Abstract
A real-time path generation based on the elastic band technique is presented to find a collision-free trajectory for an autonomous small-scale helicopter flying through cluttered, dynamic three-dimensional (3D) environments. The dynamic path is followed by the adaptive trajectory tracking controller augmented with the radial basis function neural networks (RBFNN). The effectiveness and merit of the proposed method are exemplified by performing three simulation scenarios: static obstacle avoidance, dynamic obstacle avoidance and terrain following.
Keywords
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Gavrilets, V., Mettler, B., Feron, E.: Nonlinear model for a small-size acrobatic helicopter. In: Proc. of AIAA Guidance, Navigation and Control Conference, AIAA 2001, vol. 4333 (2001)
Mettler, B.: Identification modeling and characteristics of miniature rotorcraft. Springer, Heidelberg (2003)
Mahony, R., Hamel, T.: Robust trajectory tracking for a scale model autonomous helicopter. Int. J. of Robust and Nonlinear Control 14, 1035–1059 (2004)
Johnson, E.N., Kannan, S.K.: Adaptive Trajectory control for autonomous helicopters. AIAA J. of Guidance, Control, and Dynamics 28, 524–538 (2005)
Marconi, L., Naldi, R.: Aggressive control of helicopters in presence of parametric and dynamical uncertainties. Mechatronics 18(7), 381–389 (2008)
Lee, C.T., Tsai, C.C.: Improved nonlinear trajectory tracking using RBFNN for a robotic helicopter. Int. J. of Robust and Nonlinear Control, 1–18 (2009), doi:10.1002/rnc.1483
Lee, C.T., Tsai, C.C.: Real-Time Path Planning for Autonomous Control of a Small-Scale Helicopter. In: Proc. of 2009 National Symposium on System Science and Engineering, Tamsui, Taiwan, June 26 (2009)
Lee, C.T., Tsai, C.C.: Adaptive Backstepping Integral Control of a Small-Scale Helicopter for Airdrop Missions. Asian Journal of Control 12(4), 531–541 (2010)
Lee, C.T., Tsai, C.C.: Nonlinear Adaptive Aggressive Control Using Recurrent Neural Networks for a Small Scale Helicopter. Mechatronics 20(4), 474–484 (2010)
Lee, C.T.: Trajectory Planning and Adaptive Trajectory Tracking Control for a Small Scale Autonomous Helicopter. Ph.D. (2010)
Vachtsevanos, G., Tang, L., Drozeski, G., Gutierrez, L.: From mission planning to flight control of unmanned aerial vehicles: Strategies and implementation tools. Annual Reviews in Control 29, 101–115 (2005)
Yang, H., Zhao, Y.: Trajectory Planning for Autonomous Aerospace Vehicles amid Known Obstacles and Conflicts. J. of Guidance, Control, and Dynamics 27, 997–1008 (2004)
Quinlan, S., Khatib, O.: Elastic bands: Connecting path planning and control. In: Proc. IEEE Conf. Robot. Autom., pp. 802–807 (1993)
Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. International Journal of Robotics Research 5(1), 90–98 (1995)
Hilgert, J., Hirsch, K., Bertram, T., Hiller, M.: Emergency Path Planning for Autonomous Vehicles Using Elastic Band Theory. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kobe, Japan, July 20-24 (2003)
Gehring, S.K., Stein, F.J.: Elastic Bands to Enhance Vehicle Following. In: IEEE Intelligent Transportation Systems Conference Proceedings, Oakland (CA), USA (2001)
Hesse, T., Sattel, T.: An Approach to Integrate Vehicle Dynamics in Motion Planning for Advanced Driver Assistant Systems. In: Proc. of 2007 IEEE Intelligent Vehicle Symposium, Istanbul, Turkey, June 13-15 (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lee, CT., Tsai, CC. (2011). 3D Collision-Free Trajectory Generation Using Elastic Band Technique for an Autonomous Helicopter. In: Li, TH.S., et al. Next Wave in Robotics. FIRA 2011. Communications in Computer and Information Science, vol 212. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23147-6_5
Download citation
DOI: https://doi.org/10.1007/978-3-642-23147-6_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23146-9
Online ISBN: 978-3-642-23147-6
eBook Packages: Computer ScienceComputer Science (R0)