A Constraint-based Flight Control System Architecture for UAVs using the iTaSC Framework
| Autor: | Jon Verbeke, Jonas Vantilt, J. De Schutter, S. Debruyne, Dominick Vanthienen, Maxim Vochten |
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| Jazyk: | angličtina |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Collision avoidance (spacecraft) Engineering Constraintbased Programming business.industry 020206 networking & telecommunications Control engineering 02 engineering and technology computer.software_genre Automation Aerial Robotics Software framework Collision Avoidance Human-robot Shared Control 020901 industrial engineering & automation Control theory Video tracking Obstacle avoidance 0202 electrical engineering electronic engineering information engineering Robot Reactive and Sensor-Based Planning business Multirotor computer |
| Popis: | —(Semi-) autonomous complex UAV missions, such as inspection or search-and-rescue in uncertain dynamic environments, require obstacle avoidance and operator shared control. Combining humans’ cognitive abilities with fast automation is the key for such missions. This paper presents a flight control system architecture based on the instantaneous Task Specification using Constraints (iTaSC) methodology and software framework. iTaSC is a flexible constraint-based programming approach that generates a robot motion at runtime which automatically derives the input for a low-level controller taking into account constraints and intentions from the operator, obstacles and mission constraints. This setup is experimentally validated by navigating a multirotor UAV safely through a GPS-denied corridor using (intuitive) shared control with a pilot. In addition to the pilot’s commands, automatic obstacle avoidance and object tracking are performed real-time through various onboard sensors and with limited onboard computational power. ispartof: pages:310-319 ispartof: 2016 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS) pages:310-319 ispartof: ICUAS location:Washington D.C. date:7 Jun - 10 Jun 2016 status: published |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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