Shim, A flight control system for aerial robots英文电子资料.pdfVIP

ARTICLE IN PRESS Control Engineering Practice 11 (2003) 1389–1400 A flight control system for aerial robots :algorithms and experiments H. Jin Kim*, David H. Shim EECS Department, University of California, 459 Cory Hall, Berkeley, CA 94720, USA Received 31 October 2002; accepted 8 April 2003 Abstract This paper presents a hierarchical flight control system for unmanned aerial vehicles. The proposed system executes high-level mission objectives by progressively substantiating them into machine-level commands. The acquired information from various sensors is propagated back to the higher layers for reactive decision making. Each vehicle is connected via standardized wireless communication protocol for scalable multi-agent coordination. The proposed system has been successfully implemented on a number of small helicopters and validated in various applications. Results from waypoint navigation, a probabilistic pursuit-evasion game and vision-based target tracking demonstrate the potential of the proposed approach toward intelligent flying robots. r 2003 Elsevier Science Ltd. All rights reserved. Keywords: Control system synthesis; PID control; Predictive control; Nonlinear systems; Intelligent control; Real-time systems 1. Introduction including reconnaissance, ground target tracking, and operations with limited launching space such as a Deployment of intelligent robots has been made shipdeck or in cases that require frequent landings and possible through technological