Aggressive Maneuvering of Small Autonomous Helicopters: A Human-Centered Approach
- 1 October 2001
- journal article
- other
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 20 (10) , 795-807
- https://doi.org/10.1177/02783640122068100
Abstract
Unmanned small autonomous helicopters can perform aggressive maneuvers that will be useful for operations in challenging conditions. This paper presents an analysis of the pilot’s execution of aggressive maneuvers from flight test data, collected on an instrumented small-scale acrobatic helicopter. A full-envelope nonlinear dynamic model of the helicopter was developed and validated for aggressive maneuvering. This model was used as part of the hardware-in-the-loop simulation environment to demonstrate intuitive control strategies that were determined from the analysis of flight data. This insight will be helpful in determining closed-loop strategies for autonomous aggressive maneuvering on MIT’s platform.Keywords
This publication has 8 references indexed in Scilit:
- Characteristics of Small-Scale RotorcraftPublished by Springer Nature ,2003
- System Identification Modeling of a Small-Scale Unmanned Rotorcraft for Flight Control DesignJournal of the American Helicopter Society, 2002
- Nonlinear model for a small-size acrobatic helicopterPublished by American Institute of Aeronautics and Astronautics (AIAA) ,2001
- Avionics system for aggressive maneuversIEEE Aerospace and Electronic Systems Magazine, 2001
- Attitude control optimization for a small-scale unmanned helicopterPublished by American Institute of Aeronautics and Astronautics (AIAA) ,2000
- Aggressive Maneuvering of Autonomous Aerial Vehicles: A Human-Centered ApproachPublished by Springer Nature ,2000
- Advances in rotorcraft system identificationProgress in Aerospace Sciences, 1997
- Legged Robots That BalanceIEEE Expert, 1986