A testbed for mars precision landing experiments by emulating spacecraft dynamics on a model helicopter

Srikanth Saripalli; Gaurav S. Sukhatme

A testbed for mars precision landing experiments by emulating spacecraft dynamics on a model helicopter

Srikanth Saripalli, Gaurav S. Sukhatme

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We propose the use of a model helicopter to emulate the landing dynamics of a spacecraft. Our controller accepts thruster inputs (like those on a spacecraft) and converts them into appropriate helicopter stick controls such that the resulting trajectory of the helicopter is close to the trajectory that would have been achieved by simply providing the same thruster inputs to a spacecraft. The approach relies on simplified models of the spacecraft and helicopter dynamics. Initial results in simulation indicate that the approach is feasible, with tracking accuracies on the order of 5 m.

Original language	English (US)
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	2097-2102
Number of pages	6
Volume	3
State	Published - 2002
Externally published	Yes
Event	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: Sep 30 2002 → Oct 4 2002

Other

Other	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Switzerland
City	Lausanne
Period	9/30/02 → 10/4/02

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

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title = "A testbed for mars precision landing experiments by emulating spacecraft dynamics on a model helicopter",

abstract = "We propose the use of a model helicopter to emulate the landing dynamics of a spacecraft. Our controller accepts thruster inputs (like those on a spacecraft) and converts them into appropriate helicopter stick controls such that the resulting trajectory of the helicopter is close to the trajectory that would have been achieved by simply providing the same thruster inputs to a spacecraft. The approach relies on simplified models of the spacecraft and helicopter dynamics. Initial results in simulation indicate that the approach is feasible, with tracking accuracies on the order of 5 m.",

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year = "2002",

language = "English (US)",

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AU - Sukhatme, Gaurav S.

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N2 - We propose the use of a model helicopter to emulate the landing dynamics of a spacecraft. Our controller accepts thruster inputs (like those on a spacecraft) and converts them into appropriate helicopter stick controls such that the resulting trajectory of the helicopter is close to the trajectory that would have been achieved by simply providing the same thruster inputs to a spacecraft. The approach relies on simplified models of the spacecraft and helicopter dynamics. Initial results in simulation indicate that the approach is feasible, with tracking accuracies on the order of 5 m.

AB - We propose the use of a model helicopter to emulate the landing dynamics of a spacecraft. Our controller accepts thruster inputs (like those on a spacecraft) and converts them into appropriate helicopter stick controls such that the resulting trajectory of the helicopter is close to the trajectory that would have been achieved by simply providing the same thruster inputs to a spacecraft. The approach relies on simplified models of the spacecraft and helicopter dynamics. Initial results in simulation indicate that the approach is feasible, with tracking accuracies on the order of 5 m.

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M3 - Conference contribution

AN - SCOPUS:0036453154

VL - 3

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EP - 2102

BT - IEEE International Conference on Intelligent Robots and Systems

T2 - 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 30 September 2002 through 4 October 2002

ER -

A testbed for mars precision landing experiments by emulating spacecraft dynamics on a model helicopter

Abstract

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ASJC Scopus subject areas

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