Dynamic Maneuvers for a Robotic Helicopter via Visual Feedback

Μαράντος, Παναγιώτης; Marantos, Panos

dc.contributor.author	Μαράντος, Παναγιώτης	el
dc.contributor.author	Marantos, Panos	en
dc.date.accessioned	2015-12-23T08:49:57Z
dc.date.available	2015-12-23T08:49:57Z
dc.date.issued	2015-12-23
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/41805
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.1998
dc.rights	Αναφορά Δημιουργού-Όχι Παράγωγα Έργα 3.0 Ελλάδα	*
dc.rights.uri	http://creativecommons.org/licenses/by-nd/3.0/gr/	*
dc.subject	Μη επανδρωμένα εναέρια οχήματα	el
dc.subject	Μη γραμμικός έλεγχος	el
dc.subject	Συστήματα πλοήγησης	el
dc.subject	Οπτική ανατροφοδότηση	el
dc.subject	Εύρωστος έλεγχος	el
dc.subject	Unmanned Aerial Vehicles	en
dc.subject	Navigation systems	en
dc.subject	Nonlinear control	en
dc.subject	Visual Servoing	en
dc.subject	Robust Control	en
dc.title	Dynamic Maneuvers for a Robotic Helicopter via Visual Feedback	en
dc.title	Επιδέξιοι Ελιγμοί Ρομποτικού Ελικοπτέρου με Χρήση Οπτικής Ανατροφοδότησης	el
dc.contributor.department	Τομέας Μηχανολογικών Κατασκευών & Αυτομάτου Ελέγχου	el
heal.type	doctoralThesis
heal.classification	Ρομποτική	el
heal.language	el
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2015-11-03
heal.abstract	In this Dissertation we address the problem of designing a reliable aerial embedded system dedicated for autonomous unmanned helicopters. We mainly focus on navigation and motion control systems using visual feedback. In the same vein, model-free control approaches are adopted in order to succeed robust autonomous flights in dynamic environments, exploiting a wide-range of helicopters’ flight envelope as well. First, we design and prototype low-cost onboard and ground systems -both hardware and software- in order to i) convert a remotely operated small-scale helicopter into an autonomous robotic platform and ii) construct a user-friendly ground station. Additionally, a non-linear mathematical model of flybarless helicopters is derived which will be used both in the navigation and control design, as well as in a realistic simulation framework. Regarding the navigation system, we propose a real-time, high-performance observer based on low-complex, robust and adaptive algorithms. Particularly, we use the complementary notion, fusing low-cost navigation sensors along with visual feedback, to extract the helicopter state vector. An adaptation scheme is also provided to allow unhindered operation of the filter to erroneous inputs introduced not only by the characteristics of low-cost sensors (i.e., biases, operation ranges, etc), but also by the high dynamics of aggressive maneuvers. Subsequently, we design robust model-based and model-free control schemes to stabilize the helicopter in various flight conditions, even under the presence of external disturbances, such as wind gusts or ground effect phenomena, which mainly affect the landing procedure. Finally, extensive autonomous flights are conducted with the Autonomous CSL Helicopter, called “mini-Daedalus”, demonstrating the efficacy of the proposed embedded system in highly demanding conditions and validating our design, navigation and control methods.	en
heal.advisorName	Κυριακόπουλος, Κωνσταντίνος	el
heal.committeeMemberName	Κυριακόπουλος, Κωνσταντίνος	el
heal.committeeMemberName	Παπαδόπουλος, Ευάγγελος	el
heal.committeeMemberName	Κρικέλης, Νικόλαος	el
heal.committeeMemberName	Βουτσινάς, Σπυρίδων	el
heal.committeeMemberName	Αντωνιάδης, Ιωάννης	el
heal.committeeMemberName	Παπαλάμπρου, Γεώργιος	el
heal.committeeMemberName	Τζές, Αντώνιος	el
heal.academicPublisher	Σχολή Μηχανολόγων Μηχανικών	el
heal.academicPublisherID	ntua
heal.numberOfPages	359
heal.fullTextAvailability	true