LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform

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	LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform
	Wu C(吴冲); Qi JT(齐俊桐); Song DL(宋大雷); Han JD(韩建达)
刊名	Journal of Unmanned System Technology
	2013
卷号	1 期号:1 页码:7-13
关键词	autonomous landing LP moving platform
ISSN号	2287-7320
产权排序	1
中文摘要	Autonomous landing of an unmanned helicopter (UH) on a moving platform can greatly expand its application field. In this paper, a path planning method based on 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 respectively which include helicopter’s flight envelope constraints and target kinematic constraints. Based on the established LP formulations, the flight control system’s optimal velocity expectation is derived. A simulation system based on FlightGear 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.
语种	英语
公开日期	2013-12-27
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/14055]
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,Qi JT,Song DL,et al. LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform[J]. Journal of Unmanned System Technology,2013,1(1):7-13.
APA	Wu C,Qi JT,Song DL,&Han JD.(2013).LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform.Journal of Unmanned System Technology,1(1),7-13.
MLA	Wu C,et al."LP Based Path Planning for Autonomous Landing of An Unmanned Helicopter on A Moving Platform".Journal of Unmanned System Technology 1.1(2013):7-13.