Landing a helicopter on a moving target

Srikanth Saripalli; Gaurav S. Sukhatme

doi:10.1109/ROBOT.2007.363620

Landing a helicopter on a moving target

Srikanth Saripalli, Gaurav S. Sukhatme

Arizona State University

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

58 Scopus citations

Abstract

We present the design of an optimal trajectory controller for landing a helicopter on a moving target. The trajectory planner is based on the Variational Hamiltonian and Euler-Lagrange equations. We use a kinematic model of the helicopter to derive an optimal controller that is able to track an arbitrarily moving target and then land on it. Simulations are shown to verify the performance of the optimal trajectory controller. Data from real flight trials is presented to validate the inputs obtained from the trajectory planner to track a desired trajectory. We present initial trials in simulation for landing the helicopter autonomously on a moving target.

Original language	English (US)
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	2030-2035
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363620
State	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	4/10/07 → 4/14/07

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2007.363620

Cite this

Saripalli, S & Sukhatme, GS 2007, Landing a helicopter on a moving target. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209384, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2030-2035, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.363620

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AB - We present the design of an optimal trajectory controller for landing a helicopter on a moving target. The trajectory planner is based on the Variational Hamiltonian and Euler-Lagrange equations. We use a kinematic model of the helicopter to derive an optimal controller that is able to track an arbitrarily moving target and then land on it. Simulations are shown to verify the performance of the optimal trajectory controller. Data from real flight trials is presented to validate the inputs obtained from the trajectory planner to track a desired trajectory. We present initial trials in simulation for landing the helicopter autonomously on a moving target.

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Landing a helicopter on a moving target

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