This paper details the progress to date, toward developing a small autonomous helicopter. We describe system architecture, avionics, visual state estimation, custom IMU design, aircraft modelling, as well as various linear and neuro/fuzzy control algorithms. Experimental results are presented for state estimation using fused stereo vision and IMU data, heading control, and attitude control. FAM attitude and velocity controllers have been shown to be effective in simulation.
Sensing and Control for a Small-Size Helicopter
2003-06-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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