TY - GEN
T1 - Experimental framework for evaluating autonomous guidance and control algorithms for agile aerial vehicles
AU - Kundak, Nuri
AU - Mettler May, Berenice F
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Unmanned aerial vehicles
KW - autonomy
KW - control
KW - trajectory optimization
UR - http://www.scopus.com/inward/record.url?scp=84927739691&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84927739691&partnerID=8YFLogxK
U2 - 10.23919/ecc.2007.7068647
DO - 10.23919/ecc.2007.7068647
M3 - Conference contribution
AN - SCOPUS:84927739691
T3 - 2007 European Control Conference, ECC 2007
SP - 293
EP - 300
BT - 2007 European Control Conference, ECC 2007
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2007 9th European Control Conference, ECC 2007
Y2 - 2 July 2007 through 5 July 2007
ER -