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Puls, Tim and Winkelmann, Hannes and Brucke, Matthias and Hein, Andreas

Booktitle

Advances in Robotics Research

Abstract

The motivation for the investigation of the interaction of a altitude andposition resp. waypoint controller is the demand for Unattended Aerial Systems(UAS) capable to fulfill e.g. surveillance task in contaminated or in not accessibleareas. This paper deals with the development of such altitude controller and a 2Dposition controller based on GPS data for Unattended Aerial Vehicles (UAV),which are able to hover above a given destination as well as to navigate betweenwaypoints. In addition, these controllers are designed to let a four rotor UAV flywith the maximum possible speed taking into account that the UAV must not lower the cruising altitude in an uncontrolled manner. The introduced controllers were implemented in Matlab/Simulink as well as on a target system for testing and verification purposes. Various simulations and experiments are provided explaining and proving the functionality of the described controller.

Publishing date

06 / 2009

ISBN / ISSN

978-3-642-01212-9

Type of Publication

inbook

Publisher

Springer

Organization

Institute for Robotics and Process Control

Pages

287ff

Projects

go!CART
Competitive Aerial Robotic Technologies(Sorry - only available in german!)