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Collision-free navigation of an autonomous unmanned helicopter in unknown urban environments: sliding mode and MPC approaches

Published online by Cambridge University Press:  25 July 2011

Michael Hoy ,
Alexey S. Matveev ,
Matt Garratt  and
Andrey V. Savkin
Michael Hoy*
Affiliation:
School of Electrical Engineering and Telecommunication, University of New South Wales,Sydney, Australia. E-mail: a.savkin@unsw.edu.au
Alexey S. Matveev
Affiliation:
Department of Mathematics and Mechanics, Saint Petersburg University, St. Petersburg, Russia. E-mail: almat1712@yahoo.com
Matt Garratt
Affiliation:
School of Aerospace, Civil and Mechanical Engineering, University of New South Wales at the Australian Defense Force Academy, Canberra, Australia. E-mail: m.garratt@adfa.edu.au
Andrey V. Savkin
Affiliation:
School of Electrical Engineering and Telecommunication, University of New South Wales,Sydney, Australia. E-mail: a.savkin@unsw.edu.au
*
*Corresponding author. E-mail: mch.hoy@gmail.com
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Summary

When employing autonomous helicopters, it is desirable to use navigation approaches, which firmly ensure safety. In this paper, we propose and compare two approaches to navigation through environments containing obstacles. The first uses sliding mode boundary following to maintain a prespecified distance to obstacles, and the second uses a model predictive control approach to plan short horizon trajectories around detected objects, while ensuring that the helicopter is brought to a halt within the sensor visibility radius. The navigation approaches are subjected to analysis for robustness, and simulations are carried out with a realistic helicopter model for verification. Additional real-world experiments were performed with a wheeled robot to demonstrate potential for real-time application.

Keywords

Path planningSliding mode controlRobot navigationUAV's, Collision avoidance
Type
Articles
Information
Robotica , Volume 30 , Issue 4 , July 2012 , pp. 537 - 550
Copyright
Copyright © Cambridge University Press 2011

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