Real flight demonstration of pitch and roll control for UAV canyon flights

• Autorzy: Kownacki C.
• Języki publikacji: EN

Abstrakty

EN

The paper presents results of an experiment prepared to validate the autonomous control of obstacle avoidance designed for a micro UAV to fly in urban canyons. The idea of the obstacle avoidance assumes usage of two miniature laser rangefinders responsi-ble for obstacle detection and range measurement. Measured ranges from obstacles placed on both sides of UAV can be used to simulta-neous control of desired roll and pitch angles. Such combination of controls allows achieving high agility of UAV, because during a maneu-ver of obstacle avoidance UAV can make a turn and climb at the same time. In the experiment, controls of roll and pitch angles were veri-fied separately to ensure high reliability of results and clearance of UAV behavior in the real flight. Because of lack of appropriate objects, which can be used as obstacles, laser rangefinders were directed vertically to the ground instead of the original horizontal configuration. So sensors determine ranges from the ground during a descent flight of UAV, and if their values are lower than defined threshold, it could be interpreted as obstacle detection. The experiment results present UAV behavior adequate to designed controls of roll and pitch angle. The vehicle turns in the opposite direction to the sensing axis of laser rangefinder detecting an obstacle and starts climbing when both sensors detect obstacles at the same range below the threshold.

Słowa kluczowe

EN

obstacle avoidance; autonomous control; unmanned air vehicle; reactive control; urban canyon

PL

omijanie przeszkód; sterowanie autonomiczne; bezpilotowy statek latający

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2013
• Tom: Vol. 7, no. 3
• Strony: 148--154
• Opis fizyczny: Bibliogr. 10 poz., rys., wykr.

Twórcy

autor

Kownacki C.

• Faculty of Mechanical Engineering, Department of Automatics and Robotics, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Bialystok, Poland

Bibliografia

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• 2. Beyeler A., Zufferey J.C., Floreano D. (2009), Vision based control of near-obstacle flight, Autonoums Robots, Vol. 27, No 3, 201-219.
• 3. Campoy P., Correa J. F., Mondragón I., Martínez C., Olivares M., Mejías L., Artieda J., Valavanis K., Oh P., Pieg L. (2009), Computer Vision Onboard UAVs for Civilian Tasks, Unmanned Aircraft Systems, Springer Netherlands, Vol. 54, Issue 1-3, 105-135.
• 4. Griffiths S., Saunders J., Curtis A., Barber B., McLain T., Beard R. (2007), Obstacle and Terrain Avoidance for Miniature Aerial Vehicles, Advances in Unmanned Aerial Vehicles, State of the Art and the Road to Autonomy, Spinger, 2007, 213-244.
• 5. Hrabar S. E., Sukhatme G. S. (2006), Optimum camera angle for optic flow-based centering response, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3922 – 3927.
• 6. Hrabar S. E., Sukhatme G. S. (2009), Vision-Based Navigation Through Urban Canyons, Journal of Field Robotics, Vo.26, Issue 5, 431 – 452.
• 7. Kownacki C. (2009), Guidance and obstacle avoidance of MAV in uncertain urban environment, European Micro Aerial Vehicle Conference and Flight Competition 2009: EMAV’2009 Delft, CD-ROM.
• 8. Kownacki C. (2010), Algorithm development for flight control of micro aircraft in uncertain urban environment, Acta Mechanica et Automatica, Vol. 4, No. 3, 87-93, (in Polish).
• 9. Kownacki C. (2011), Obstacle avoidance strategy for Micro Aerial Vehicle, Advances in aerospace guidance, navigation and control, Berlin: Springer-Verlag, 117-135.
• 10. Todorovic S., Nechyba M.C. (2004), A Vision System for Intelligent Mission Profiles, IEEE Transactions On Vehicular Technology, Vol. 53, No. 6, 1713–1725.