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题名: Autonomous Landing of an Unmanned Helicopter on a Moving Platform based on LP Path Planning
作者: Wu C(吴冲) ; Song DL(宋大雷) ; Qi JT(齐俊桐) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: The 8th International Conference on Intelligent Unmanned Systems
会议日期: October 22-24, 2012
会议地点: Singapore
会议主办者: International Society of Intelligent Unmanned Systems (ISIUS)
会议录: Proceedings of the 8th International Conference on Intelligent Unmanned Systems (ICIUS 2012)
出版日期: 2012
页码: 44-49
ISBN号: 978-981-07-4225-6
关键词: component ; LP ; Landing ; UH ; path planning
摘要: Autonomous landing of an unmanned helicopter 00 a moving platform can greatly expand its application field. In this paper, a path planning method based 00 linear programming (LP) is proposed in the relative coordination to finish the autonomous landing task. First, the landing procedure is divided into four stages. Then, the linear constraints in each stage are established accordingly which include helicopter's flight envelope constraint and target kinematical constraint. Based 00 the established LP formulations, the flight control system’s optimal velocity expectation is derived. A simulation system based on Flight Gear and Matlab is established and used as the validation platform for this approach, the simulation results demonstrate the effectiveness and efficiency of this approach and the real flight test is under development.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10191
Appears in Collections:机器人学研究室_会议论文

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