Title:
Path Planning and Flight Controller Scheduling for an Autonomous Helicopter

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dc.contributor.author Egerstedt, Magnus B.
dc.contributor.author Koo, T. J.
dc.contributor.author Hoffmann, F.
dc.contributor.author Sastry, S.
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename University of California, Berkeley. Dept. of Electrical Engineering and Computer Sciences
dc.contributor.corporatename Kungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
dc.date.accessioned 2011-05-17T16:04:43Z
dc.date.available 2011-05-17T16:04:43Z
dc.date.issued 1999-03
dc.description Digital Object Identifier: 10.1007/3-540-48983-5_11 en_US
dc.description.abstract In this article we investigate how to generate flight trajectories for an autonomous helicopter. The planning strategy that we propose reflects the controller architecture. It is reasonable to identify different flight modes such as take-off, cruise, turn and landing, which can be used to compose an entire flight path. Given a set of nominal waypoints we generate trajectories that interpolate close to these points. This path generation is done for two different cases, corresponding to two controllers that either govern position or velocity of the helicopter. Based on a given cost functional, the planner selects the optimal one among these multiple paths. This approach thus provide a systematic way for generating not only the flight path, but also a suitable switching strategy, i.e. when to switch between the different controllers. en_US
dc.identifier.citation M. Egerstedt, J. Koo, F. Hoffmann, and S. Sastry. Path Planning and Flight Controller Scheduling for an Autonomous Helicopter. Lecture Notes in Computer Science 1569: Hybrid Systems II: Computation and Control, pp. 91-102, Berg en Dal, The Netherlands, Springer Verlag, Mar. 1999. en_US
dc.identifier.isbn 3-540-65734-7
dc.identifier.uri http://hdl.handle.net/1853/38908
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Springer Verlag
dc.subject Path planning en_US
dc.subject Autonomous helicopter en_US
dc.subject Flight trajectories en_US
dc.title Path Planning and Flight Controller Scheduling for an Autonomous Helicopter en_US
dc.type Text
dc.type.genre Book Chapter
dspace.entity.type Publication
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename School of Electrical and Computer Engineering
local.contributor.corporatename College of Engineering
relation.isAuthorOfPublication dd4872d3-2e0d-435d-861d-a61559d2bcb6
relation.isOrgUnitOfPublication 5b7adef2-447c-4270-b9fc-846bd76f80f2
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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