In-flight collision avoidance controller based only on OS4 embedded sensors
Autor(a) principal: | |
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Data de Publicação: | 2012 |
Outros Autores: | , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782012000300010 |
Resumo: | The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is important to highlight that the design aspects must be seriously considered in order to overcome hardware limitations and achieve control simplification. The controllers of a UAV (Unmanned Aerial Vehicle) robot deal with highly unstable dynamics and strong axes coupling. Furthermore, any additional embedded sensor increases the robot total weight and therefore, decreases its operating time. The best balance between embedded electronics and robot operating time is desired. This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases. Based on this model we carried out the development of a simulation tool based on MatLab/Simulink that was fundamental for setting the controllers' parameters. This tool allowed us to simulate and improve the OS4 controllers in different modeled environments and test different approaches. After that, the controllers were embedded in the real robot and the results proved to be very robust and feasible. In addition to this, the controller has the advantage of being compatible with future path planners that we are developing. |
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In-flight collision avoidance controller based only on OS4 embedded sensorsVTOLobstacle avoidance proceduresmobile roboticsmini-flying robotsThe major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is important to highlight that the design aspects must be seriously considered in order to overcome hardware limitations and achieve control simplification. The controllers of a UAV (Unmanned Aerial Vehicle) robot deal with highly unstable dynamics and strong axes coupling. Furthermore, any additional embedded sensor increases the robot total weight and therefore, decreases its operating time. The best balance between embedded electronics and robot operating time is desired. This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases. Based on this model we carried out the development of a simulation tool based on MatLab/Simulink that was fundamental for setting the controllers' parameters. This tool allowed us to simulate and improve the OS4 controllers in different modeled environments and test different approaches. After that, the controllers were embedded in the real robot and the results proved to be very robust and feasible. In addition to this, the controller has the advantage of being compatible with future path planners that we are developing.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2012-09-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782012000300010Journal of the Brazilian Society of Mechanical Sciences and Engineering v.34 n.3 2012reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/S1678-58782012000300010info:eu-repo/semantics/openAccessBecker,MarceloSampaio,Rafael Coronel B.Bouabdallah,SamirPerrot,Vincent deSiegwart,Rolandeng2012-11-01T00:00:00Zoai:scielo:S1678-58782012000300010Revistahttps://www.scielo.br/j/jbsmse/https://old.scielo.br/oai/scielo-oai.php||abcm@abcm.org.br1806-36911678-5878opendoar:2012-11-01T00:00Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false |
dc.title.none.fl_str_mv |
In-flight collision avoidance controller based only on OS4 embedded sensors |
title |
In-flight collision avoidance controller based only on OS4 embedded sensors |
spellingShingle |
In-flight collision avoidance controller based only on OS4 embedded sensors Becker,Marcelo VTOL obstacle avoidance procedures mobile robotics mini-flying robots |
title_short |
In-flight collision avoidance controller based only on OS4 embedded sensors |
title_full |
In-flight collision avoidance controller based only on OS4 embedded sensors |
title_fullStr |
In-flight collision avoidance controller based only on OS4 embedded sensors |
title_full_unstemmed |
In-flight collision avoidance controller based only on OS4 embedded sensors |
title_sort |
In-flight collision avoidance controller based only on OS4 embedded sensors |
author |
Becker,Marcelo |
author_facet |
Becker,Marcelo Sampaio,Rafael Coronel B. Bouabdallah,Samir Perrot,Vincent de Siegwart,Roland |
author_role |
author |
author2 |
Sampaio,Rafael Coronel B. Bouabdallah,Samir Perrot,Vincent de Siegwart,Roland |
author2_role |
author author author author |
dc.contributor.author.fl_str_mv |
Becker,Marcelo Sampaio,Rafael Coronel B. Bouabdallah,Samir Perrot,Vincent de Siegwart,Roland |
dc.subject.por.fl_str_mv |
VTOL obstacle avoidance procedures mobile robotics mini-flying robots |
topic |
VTOL obstacle avoidance procedures mobile robotics mini-flying robots |
description |
The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is important to highlight that the design aspects must be seriously considered in order to overcome hardware limitations and achieve control simplification. The controllers of a UAV (Unmanned Aerial Vehicle) robot deal with highly unstable dynamics and strong axes coupling. Furthermore, any additional embedded sensor increases the robot total weight and therefore, decreases its operating time. The best balance between embedded electronics and robot operating time is desired. This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases. Based on this model we carried out the development of a simulation tool based on MatLab/Simulink that was fundamental for setting the controllers' parameters. This tool allowed us to simulate and improve the OS4 controllers in different modeled environments and test different approaches. After that, the controllers were embedded in the real robot and the results proved to be very robust and feasible. In addition to this, the controller has the advantage of being compatible with future path planners that we are developing. |
publishDate |
2012 |
dc.date.none.fl_str_mv |
2012-09-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782012000300010 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782012000300010 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1590/S1678-58782012000300010 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM |
publisher.none.fl_str_mv |
Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM |
dc.source.none.fl_str_mv |
Journal of the Brazilian Society of Mechanical Sciences and Engineering v.34 n.3 2012 reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM) instacron:ABCM |
instname_str |
Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM) |
instacron_str |
ABCM |
institution |
ABCM |
reponame_str |
Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) |
collection |
Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) |
repository.name.fl_str_mv |
Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM) |
repository.mail.fl_str_mv |
||abcm@abcm.org.br |
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1754734682213187584 |