Auto landing control for small scale unmanned helicopter with flight gear and HILS

Author

Kumar, Vishnu ; Yong, Hanmaro ; Min, Dugki ; Choi, Eunmi

Author_Institution

Sch. of Inf. & Commun. Eng., Konkuk Univ., Seoul, South Korea

fYear

2010

fDate

Nov. 30 2010-Dec. 2 2010

Firstpage

676

Lastpage

681

Abstract

Autonomous landing is a challenging and important task for rotorcraft-based unmanned aerial vehicle (RUAV). This paper presents an autonomous landing algorithm for RUAV. The accurate landing is achieved by generating reference trajectory using near-minimum-time maneuver method and tracked with Lyapunov stabilizing approach. Along with this the testing environment for RUAV is developed to validate our landing algorithm. Complete setup is implemented and run under QNX RTOS, based on PC104 embedded board. The algorithm is tested and evaluated using HILS (Hardware in the loop simulation). Simulation result shows that proposed algorithm effectively handles elevated terrain under high altitude and lands accurately.

Keywords

Lyapunov methods; aircraft control; aircraft landing guidance; embedded systems; gears; helicopters; mobile robots; position control; remotely operated vehicles; HILS; Lyapunov stability; PC104 embedded board; QNX RTOS; autolanding control; autonomous landing algorithm; elevated terrain; flight gear; hardware in the loop simulation; near minimum time maneuver method; reference trajectory; rotorcraft based unmanned aerial vehicle; small scale unmanned helicopter; Aerospace control; Atmospheric modeling; Helicopters; Real time systems; Trajectory; Unmanned aerial vehicles; Autolanding algorithm; HILS; flightgear; unamenned aerial vehicle (UAV);

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Sciences and Convergence Information Technology (ICCIT), 2010 5th International Conference on

Conference_Location

Seoul

Print_ISBN

978-1-4244-8567-3

Electronic_ISBN

978-89-88678-30-5

Type

conf

DOI

10.1109/ICCIT.2010.5711140

Filename

5711140