지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2018.10
- 수록면
- 451 - 456 (6page)
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초록· 키워드
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This paper represents the results of development and research of the autonomous control system for the UAV. Existing control systems do not provide flight performance necessary for successful operations in non-deterministic environments. So, we propose hybrid intelligent technology based on unstable modes and the conception of a virtual goal. The main feature of our approach is the efficient integration of global and local path planning providing smooth and quick correction of trajectories for the avoidance of obstacles detected by the quadrotor vision system. Moreover, our local planning approach gives the tool for passing areas with complex obstacles where other local path planning algorithms fail. The hardware-software architecture of the control system based on client-server model with the loose coupling in ROS is presented. The results of simulation and real test flights confirming the efficiency of the proposed technology are shown. We used the commercially available quadcopter and flight controller. That proves absence of necessity in special hardware tools for autonomous flight in environments with uncertainties.
목차
Abstract
1. INTRODUCTION
2. RELEVANT WORK
3. PROBLEM STATEMENT
4. QUADCOPTER PARAMETERS
5. GENERAL APPROACH
6. MOTION PLANNING
7. SIMULATIONS AND TESTS
8. CONCLUSIONS
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2018-003-003538592