Indoor navigation strategies for aerial autonomous systems / Pedro Castillo-Garcia, Laura Elena Munoz Hernandez, Pedro Garcia Gil.

Format:

Book

Author/Creator:

Castillo-Garcia, Pedro, author.

Muñoz Hernández, Laura Elena, author.

García Gil, Pedro, author.

Language:

English

Subjects (All):

Drone aircraft.

Navigation (Aeronautics).

Drone aircraft--Automatic control.

Airplanes--Control systems.

Airplanes.

Physical Description:

1 online resource (302 pages) : illustrations

Edition:

First edition.

Place of Publication:

Amsterdam, [Netherlands] : Butterworth-Heinemann, 2017.

System Details:

text file

Summary:

Indoor Navigation Strategies for Aerial Autonomous Systems presents the necessary and sufficient theoretical basis for those interested in working in unmanned aerial vehicles, providing three different approaches to mathematically represent the dynamics of an aerial vehicle. The book contains detailed information on fusion inertial measurements for orientation stabilization and its validation in flight tests, also proposing substantial theoretical and practical validation for improving the dropped or noised signals. In addition, the book contains different strategies to control and navigate aerial systems. The comprehensive information will be of interest to both researchers and practitioners working in automatic control, mechatronics, robotics, and UAVs, helping them improve research and motivating them to build a test-bed for future projects. Provides substantial information on nonlinear control approaches and their validation in flight tests Details in observer-delay schemes that can be applied in real-time Teaches how an IMU is built and how they can improve the performance of their system when applying observers or predictors Improves prototypes with tactics for proposed nonlinear schemes

Contents:

Front Cover

Indoor Navigation Strategies for Aerial Autonomous Systems

Copyright

Contents

About the Authors

Preface

Acknowledgments

Part 1 Background

1 State-of-the-Art

1.1 Mathematical Representation of the Vehicle Dynamics

1.2 Attitude Estimation Using Inertial Sensors

1.3 Delay Systems &amp

Predictors

1.4 Data Fusion for UAV Localization

1.5 Control &amp

Navigation Algorithms

1.6 Trajectory Generation &amp

Tracking

1.7 Obstacle Avoidance

1.8 Teleoperation

References

2 Modeling Approaches

2.1 Force and Moment in a Rotor

2.2 Euler-Lagrange Approach

2.3 Newton-Euler Approach

2.4 Quaternion Approach

2.5 Discussion

Part 2 Improving Sensor Signals for Control Purposes

3 Inertial Sensors Data Fusion for Orientation Estimation

3.1 Attitude Representation

3.2 Sensor Characterization

3.3 Attitude Estimation Algorithms

3.4 A Computationally-Efficient Kalman Filter

3.5 Discussion

4 Delay Signals &amp

4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays

4.2 State Predictor-Control Scheme

4.3 Discussion

5 Data Fusion for UAV Localization

5.1 Sensor Data Fusion

5.2 Prototype and Numerical Implementation

5.3 Flight Tests and Experimental Results

5.4 OptiTrack Measurements vs EKF Estimation

5.5 Rotational Optical Flow Compensation

5.6 Discussion

Part 3 Navigation Schemes &amp

Control Strategies

6 Nonlinear Control Algorithms with Integral Action

6.1 From PD to PID Controllers

6.2 Saturated Controllers with Integral Component

6.3 Integral and Adaptive Backstepping Control - IAB

6.4 Discussion

7 Sliding Mode Control

7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression.

7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design

7.3 Numerical Validation

7.4 Real-Time Validation

7.5 Discussion

8 Robust Simple Controllers

8.1 Nonlinear Robust Algorithms Based on Saturation Functions

8.2 Robust Control Based on an Uncertainty Estimator

8.3 Discussion

9 Trajectory Generation, Planning &amp

9.1 Quadrotor Mathematical Description

9.2 Time-Optimal Trajectory Generation

9.3 UAV Routing Problem for Inspection-Like Missions

9.4 Trajectory Tracking Problem

9.5 Simulation Results

9.6 Discussion

10 Obstacle Avoidance

10.1 Artificial Potential Field Method

10.2 Obstacle Avoidance Algorithm

10.3 Limit-Cycle Obstacle Avoidance

10.4 Discussion

11 Haptic Teleoperation

11.1 Experimental Setup

11.2 Collision Avoidance

11.3 Haptic Teleoperation

11.4 Real-Time Experiments

11.5 Discussion

Index

Back Cover.

Notes:

Includes bibliographical references at the end of each chapters and index.

Description based on online resource; title from PDF title page (ebrary, viewed November 24, 2016).

OCLC:

968205779