Title :
Waypoint Navigation Control of a VTOL UAV Amidst Obstacles
Author :
Pflimlin, J.M. ; Soueres, Philippe ; Hamel, Tarek
Author_Institution :
LAAS-CNRS, Toulouse
Abstract :
This paper deals with the autonomous navigation of a ducted fan vertical take off and landing (VTOL) unmanned aerial vehicle (UAV) in constrained environment. The proposed strategy considers the translational dynamics of the vehicle to design a control of the thrust vector that ensures safe navigation in presence of encountered obstacles. Adaptive backstepping techniques are used to design a nonlinear feedback control that allows to navigate amidst obstacles despite wind perturbations. Simulations results and a first experiment are presented to illustrate the concept
Keywords :
adaptive control; aerospace robotics; control system synthesis; feedback; nonlinear control systems; remotely operated vehicles; robot dynamics; adaptive backstepping techniques; autonomous navigation; nonlinear feedback control; thrust vector; unmanned aerial vehicle; vehicle translational dynamics; vertical take off and landing; waypoint navigation control; Adaptive control; Air traffic control; Aircraft navigation; Backstepping; Military aircraft; Programmable control; Remotely operated vehicles; Surveillance; Unmanned aerial vehicles; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281641
