Title :
The USC autonomous flying vehicle: an experiment in real-time behavior-based control
Author :
Lewis, M.A. ; Fagg, Andrew H. ; Bekey, George A.
Author_Institution :
Univ. of Southern California, Los Angeles, CA, USA
Abstract :
A control system architecture is described for an autonomous flying vehicle. The vehicle, equipped with seventeen sensors, uses a model helicopter as an intraframe. The control system utilizes these sensors to remain aloft and in stable flight, to navigate to a target, and to manipulate a physical object. The overall approach to the problem is based on a behavioral paradigm. As the craft is airborne it is in constant risk of crashing. Unlike terrestrial mobile robots, the craft must constantly make sound decisions to maintain its integrity
Keywords :
aerospace control; helicopters; mobile robots; stability; USC autonomous flying vehicle; behavioral paradigm; control system architecture; mobile robots; model helicopter; real-time behavior-based control; stable flight; Concurrent computing; Control systems; Intelligent robots; Intelligent sensors; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems; Sensor systems; Service robots;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291920
