Autonomous Landing of an Unmanned Helicopter on a Moving Platform based on LP Path Planning

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	Autonomous Landing of an Unmanned Helicopter on a Moving Platform based on LP Path Planning
	Wu C(吴冲); Song DL(宋大雷); Qi JT(齐俊桐); Han JD(韩建达)
	2012
会议名称	The 8th International Conference on Intelligent Unmanned Systems
会议日期	October 22-24, 2012
会议地点	Singapore
关键词	component LP Landing UH path planning
页码	44-49
中文摘要	Autonomous landing of an unmanned helicopter 00 a moving platform can greatly expand its application field. In this paper, a path planning method based 00 linear programming (LP) is proposed in the relative coordination to finish the autonomous landing task. First, the landing procedure is divided into four stages. Then, the linear constraints in each stage are established accordingly which include helicopter's flight envelope constraint and target kinematical constraint. Based 00 the established LP formulations, the flight control system’s optimal velocity expectation is derived. A simulation system based on Flight Gear and Matlab is established and used as the validation platform for this approach, the simulation results demonstrate the effectiveness and efficiency of this approach and the real flight test is under development.
产权排序	1
会议主办者	International Society of Intelligent Unmanned Systems (ISIUS)
会议录	Proceedings of the 8th International Conference on Intelligent Unmanned Systems (ICIUS 2012)
语种	英语
ISBN号	978-981-07-4225-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10191]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wu C,Song DL,Qi JT,et al. Autonomous Landing of an Unmanned Helicopter on a Moving Platform based on LP Path Planning[C]. 见:The 8th International Conference on Intelligent Unmanned Systems. Singapore. October 22-24, 2012.