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LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform
Wu C(吴冲); Qi JT(齐俊桐); Song DL(宋大雷); Han JD(韩建达)
作者部门机器人学研究室
关键词Autonomous Landing Lp Moving Platform
发表期刊Journal of Unmanned System Technology
ISSN2287-7320
2013
卷号1期号:1页码:7-13
产权排序1
摘要Autonomous landing of an unmanned helicopter (UH) on a moving platform can greatly expand its application field. In this paper, a path planning method based on 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 respectively which include helicopter’s flight envelope constraints and target kinematic constraints. Based on the established LP formulations, the flight control system’s optimal velocity expectation is derived. A simulation system based on FlightGear 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.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/14055
专题机器人学研究室
通讯作者Qi JT(齐俊桐)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Wu C,Qi JT,Song DL,et al. LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform[J]. Journal of Unmanned System Technology,2013,1(1):7-13.
APA Wu C,Qi JT,Song DL,&Han JD.(2013).LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform.Journal of Unmanned System Technology,1(1),7-13.
MLA Wu C,et al."LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform".Journal of Unmanned System Technology 1.1(2013):7-13.
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