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Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2012

Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements

Résumé

The present paper addresses the transition stage of a Gun-Launched Micro Air Vehicle (GLMAV) whose main goal is to rapidly position a rotorcraft MAV over a high-risk scene (Prison riots, blind zones: e.g. over-the-hill, etc.). The development of this robotic platform is part of an overall ongoing project (GLMAV) headed by the St. Louis French-German Research Institute (ISL). The vehicle is launched at a distance of 500 m and a height of 100 m, where the GLMAV will collect and transmit visual information from the scene. Issues raising from the use of the gun-based launching technique are discussed in detail. A control strategy is proposed to overcome such problems and to stabilize the GLMAV. High-fidelity simulations, covering ballistic and transition phases, validate the control policy adopted to face the MAV gun-launching problem.

Domaines

Automatique

Dates et versions

hal-00937527 , version 1 (28-01-2014)

Identifiants

Citer

Jairo Ordaz, Sergio Salazar, Sabine Mondié, Hugo Romero, Rogelio Lozano. Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements. Journal of Intelligent and Robotic Systems, 2012, 70 (1-4), pp.13-26. ⟨10.1007/s10846-012-9714-5⟩. ⟨hal-00937527⟩
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