Waypoint Navigation Control of a VTOL UAV Amidst Obstacles

Author

Pflimlin, J.M. ; Soueres, Philippe ; Hamel, Tarek

Author_Institution

LAAS-CNRS, Toulouse

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

3544

Lastpage

3549

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.2006.281641

Filename

4058952