Experimental framework for evaluating autonomous guidance and control algorithms for agile aerial vehicles

Nuri Kundak, Berenice F Mettler May

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

This paper describes the design of an indoor experimental setup for evaluating autonomous guidance and control algorithms for agile aerial vehicles operating in challenging 3D environments and flight conditions. The setup is based on a vision tracking system which dispenses the need for onboard instrumentation making it possible to use highly miniaturized R/C rotorcraft and airplanes. Thanks to the small scale and the indoor setting it is possible to create realistic testing conditions in a controlled fashion. The facility will help develop a methodological framework and benchmark to evaluate the performance of planning algorithms. In addition, the experimental setup provides high quality flight data needed to accurately model small-scale aircraft. It also, provides a unique environment to study human pilot performance and conduct interactive experiments involving piloted and autonomous vehicles.

Original languageEnglish (US)
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages293-300
Number of pages8
ISBN (Electronic)9783952417386
DOIs
StatePublished - 2007
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: Jul 2 2007Jul 5 2007

Publication series

Name2007 European Control Conference, ECC 2007

Other

Other2007 9th European Control Conference, ECC 2007
CountryGreece
CityKos
Period7/2/077/5/07

Keywords

  • Unmanned aerial vehicles
  • autonomy
  • control
  • trajectory optimization

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