Indoor Navigation Strategies for Aerial Autonomous Systems

ISBN-13: 9780128051894 / Angielski / Miękka / 2016 / 300 str.

Pedro Castillo-Garcia; Laura Elena Munoz Hernandez; Pedro Garcia Gil

Opis

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

Spis treści

I. Background1. Previous works2. Modeling approaches

II. Improving sensors signals for control purposes3. Inertial data fusion sensors for orientation (Validation in flight tests)4. Delay signals and predictors (Validation in flight tests)5. Data fusion for UAV localization (Validation in flight tests)

III. Navigation schemes and control strategies6. Robust control (Validation in flight tests)7. Saturation control with integral action (Validation in flight tests)8. Sliding mode control (Validation in flight tests)9. Trajectory generation10. Path following (Validation in flight tests)11. Obstacle avoidance (Validation in flight tests)12. Teleoperation (Validation in flight tests)

O autorze

He received the best Ph.D. thesis of Automatic Control award from club EEA, (France) in 2005. His research topics cover: real-time control applications, non-linear dynamics and control, aerospace vehicles, vision and underactuated mechanical systems. She obtained her B.S degree in Electronics and Telecommunications Engineering in 2005 and her M.Sc degree in Automation and Control in 2007 from the Hidalgo State University, Mexico. In 2009 she obtained her Ph.D. degree in Automatic Control from the University of Technology of Compiègne, France. He has been visiting researcher at the Lund Institute of Technology, Lund, Sweden (in 2006), Université de Technologie de Compiegne, Compiegne, France (in 2007), University of Florianopolis, Brazil (in 2010), and at the University of Sheffield (UK) (in 2014). He has co-authored more than 15 papers in middle or top impact journals. His research interests are within the broad area of time delay systems, embedded control systems and control of autonomous vehicles.