Landing a helicopter on a moving target Conference Paper

abstract

• We present the design of an optimal trajectory controller for landing a helicopter on a moving target. The trajectory planner is based on the Variational Hamiltonian and Euler-Lagrange equations. We use a kinematic model of the helicopter to derive an optimal controller that is able to track an arbitrarily moving target and then land on it. Simulations are shown to verify the performance of the optimal trajectory controller. Data from real flight trials is presented to validate the inputs obtained from the trajectory planner to track a desired trajectory. We present initial trials in simulation for landing the helicopter autonomously on a moving target. 2007 IEEE.

name of conference

• Proceedings 2007 IEEE International Conference on Robotics and Automation

authors

• Saripalli, Srikanth

published proceedings

• PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10

author list (cited authors)

• Saripalli, S., & Sukhatme, G. S.

citation count

• 47

complete list of authors

• Saripalli, Srikanth||Sukhatme, Gaurav S

publication date

• April 2007

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

keywords

• 40 Engineering
• 4001 Aerospace Engineering

Digital Object Identifier (DOI)

• 10.1109/ROBOT.2007.363620

International Standard Book Number (ISBN) 10

• 1424406021

International Standard Book Number (ISBN) 13

• 978-1-4244-0601-2

start page

• 2030

end page

• +

URL

• http://dx.doi.org/10.1109/robot.2007.363620