TY - GEN
T1 - Landing a helicopter on a moving target
AU - Saripalli, Srikanth
AU - Sukhatme, Gaurav S.
N1 - Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2007
Y1 - 2007
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=36348962414&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348962414&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363620
DO - 10.1109/ROBOT.2007.363620
M3 - Conference contribution
AN - SCOPUS:36348962414
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2030
EP - 2035
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -