Indoor navigation strategies for aerial autonomous systems
10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Di...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Castillo, Pedro - 1975- [verfasserIn] Munoz Hernandez, Laura Elena [verfasserIn] García Gil, Pedro [verfasserIn] |
|---|
| Format: |
E-Book |
|---|---|
| Sprache: |
Englisch |
| Erschienen: |
Oxford, United Kingdom: Butterworth-Heinemann/Elsevier ; 2017 |
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| Schlagwörter: |
Drone aircraft, Control systems TECHNOLOGY & ENGINEERING ; Military Science |
|---|---|
| Formangabe: |
Electronic books |
| Anmerkung: |
Includes bibliographical references and index |
|---|---|
| Umfang: |
1 Online-Ressource (xiii, 286 pages) |
| Links: | |
|---|---|
| ISBN: |
0-12-805339-9 978-0-12-805339-3 |
| Katalog-ID: |
1685487289 |
|---|
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| 245 | 1 | 0 | |a Indoor navigation strategies for aerial autonomous systems |c Pedro Castillo García, Laura Elena Munoz Hernandez, Pedro García Gil |
| 264 | 1 | |a Oxford, United Kingdom |b Butterworth-Heinemann/Elsevier |c [2017] | |
| 300 | |a 1 Online-Ressource (xiii, 286 pages) | ||
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| 500 | |a Includes bibliographical references and index | ||
| 520 | |a 10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover | ||
| 520 | |a 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion | ||
| 520 | |a 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression | ||
| 520 | |a 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References | ||
| 520 | |a Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach | ||
| 520 | |a 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 | ||
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| 650 | 4 | |a TECHNOLOGY & ENGINEERING ; Military Science | |
| 650 | 4 | |a Drone aircraft ; Control systems | |
| 650 | 4 | |a Navigation (Aeronautics) | |
| 650 | 4 | |a Navigation (Aéronautique) |0 (CaQQLa)201-0014465 | |
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0128053399 electronic bk. 0-12-805339-9 9780128053393 : electronic bk. 978-0-12-805339-3 (DE-627)1685487289 (DE-576)517987589 (DE-599)KEP003097048 (OCoLC)966869157 (OCoLC)966869157 (EBP)003097048 (ELSEVIER)ocn966869157 DE-627 eng DE-627 rda eng XA-GB TL589.4 TEC 025000 bisacsh TEC 025000 bisacsh Castillo, Pedro 1975- verfasserin aut Indoor navigation strategies for aerial autonomous systems Pedro Castillo García, Laura Elena Munoz Hernandez, Pedro García Gil Oxford, United Kingdom Butterworth-Heinemann/Elsevier [2017] 1 Online-Ressource (xiii, 286 pages) Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index 10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach 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 Drone aircraft Control systems Navigation (Aeronautics) Navigation (Aeronautics) Drone aircraft Control systems TECHNOLOGY & ENGINEERING ; Military Science Drone aircraft ; Control systems Navigation (Aeronautics) Navigation (Aéronautique) (CaQQLa)201-0014465 Drones - Systèmes de commande (CaQQLa)201-0438978 Electronic books Electronic books Munoz Hernandez, Laura Elena verfasserin aut García Gil, Pedro verfasserin aut 0128051892 Erscheint auch als Druck-Ausgabe Castillo, Pedro, 1975- Indoor navigation strategies for aerial autonomous systems http://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag Volltext https://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag lizenzpflichtig (DE-627)879421479 BSZ-33-EBS-HSAA GBV-33-EBS-MRI GBV-33-EBS-ZHB GBV-33-Freedom 2021 ZDB-33-EGE 2017 ZDB-33-EBS ZDB-33-ESD GBV-33-EBS-HST BSZ-33-EBS-C1UB GBV_ILN_105 ISIL_DE-841 SYSFLAG_1 GBV_KXP GBV_ILN_132 ISIL_DE-959 GBV_ILN_185 ISIL_DE-Sra5 GBV_ILN_370 ISIL_DE-1373 GBV_ILN_2020 ISIL_DE-Ch1 GBV_ILN_2111 ISIL_DE-944 GBV ExPruef BO 045F 629.1326 045F 629.132/6 105 01 0841 4074554569 OLR-ELV-TEST Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. Testzugang ZHB Lübeck z 26-02-22 132 01 0959 4500002146 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. Zeitlich begrenzte Lizenzierung k 13-03-24 185 01 3519 4514692379 OLR-EBS Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. z 23-04-24 370 01 4370 4540279874 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. i z 20-06-24 2020 01 DE-Ch1 4520358604 00 --%%-- --%%-- n n Campuslizenz l01 03-05-24 2111 02 DE-944 4046049847 00 --%%-- E-Book Elsevier --%%-- n Elektronischer Volltext - Campuslizenz l01 27-01-22 105 01 0841 http://www.sciencedirect.com/science/book/9780128051894 132 01 0959 Zugriff nur für Angehörige der Hochschule Osnabrück im Hochschulnetz https://www.sciencedirect.com/science/book/9780128051894 185 01 3519 http://www.sciencedirect.com/science/book/9780128051894 370 01 4370 E-Book: Zugriff im HCU-Netz. Zugriff von außerhalb nur für HCU-Angehörige möglich https://www.sciencedirect.com/science/book/9780128051894 2020 01 DE-Ch1 https://www.sciencedirect.com/science/book/9780128051894 2111 02 DE-944 https://www.sciencedirect.com/science/book/9780128051894 132 01 0959 00 EBooks Elsevier Engineering 105 01 0841 OLR-ELV-TEST 132 01 0959 EBS Elsevier 185 01 3519 OLR-EBS 370 01 4370 EBS Elsevier |
| spelling |
0128053399 electronic bk. 0-12-805339-9 9780128053393 : electronic bk. 978-0-12-805339-3 (DE-627)1685487289 (DE-576)517987589 (DE-599)KEP003097048 (OCoLC)966869157 (OCoLC)966869157 (EBP)003097048 (ELSEVIER)ocn966869157 DE-627 eng DE-627 rda eng XA-GB TL589.4 TEC 025000 bisacsh TEC 025000 bisacsh Castillo, Pedro 1975- verfasserin aut Indoor navigation strategies for aerial autonomous systems Pedro Castillo García, Laura Elena Munoz Hernandez, Pedro García Gil Oxford, United Kingdom Butterworth-Heinemann/Elsevier [2017] 1 Online-Ressource (xiii, 286 pages) Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index 10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach 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 Drone aircraft Control systems Navigation (Aeronautics) Navigation (Aeronautics) Drone aircraft Control systems TECHNOLOGY & ENGINEERING ; Military Science Drone aircraft ; Control systems Navigation (Aeronautics) Navigation (Aéronautique) (CaQQLa)201-0014465 Drones - Systèmes de commande (CaQQLa)201-0438978 Electronic books Electronic books Munoz Hernandez, Laura Elena verfasserin aut García Gil, Pedro verfasserin aut 0128051892 Erscheint auch als Druck-Ausgabe Castillo, Pedro, 1975- Indoor navigation strategies for aerial autonomous systems http://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag Volltext https://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag lizenzpflichtig (DE-627)879421479 BSZ-33-EBS-HSAA GBV-33-EBS-MRI GBV-33-EBS-ZHB GBV-33-Freedom 2021 ZDB-33-EGE 2017 ZDB-33-EBS ZDB-33-ESD GBV-33-EBS-HST BSZ-33-EBS-C1UB GBV_ILN_105 ISIL_DE-841 SYSFLAG_1 GBV_KXP GBV_ILN_132 ISIL_DE-959 GBV_ILN_185 ISIL_DE-Sra5 GBV_ILN_370 ISIL_DE-1373 GBV_ILN_2020 ISIL_DE-Ch1 GBV_ILN_2111 ISIL_DE-944 GBV ExPruef BO 045F 629.1326 045F 629.132/6 105 01 0841 4074554569 OLR-ELV-TEST Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. Testzugang ZHB Lübeck z 26-02-22 132 01 0959 4500002146 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. Zeitlich begrenzte Lizenzierung k 13-03-24 185 01 3519 4514692379 OLR-EBS Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. z 23-04-24 370 01 4370 4540279874 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. i z 20-06-24 2020 01 DE-Ch1 4520358604 00 --%%-- --%%-- n n Campuslizenz l01 03-05-24 2111 02 DE-944 4046049847 00 --%%-- E-Book Elsevier --%%-- n Elektronischer Volltext - Campuslizenz l01 27-01-22 105 01 0841 http://www.sciencedirect.com/science/book/9780128051894 132 01 0959 Zugriff nur für Angehörige der Hochschule Osnabrück im Hochschulnetz https://www.sciencedirect.com/science/book/9780128051894 185 01 3519 http://www.sciencedirect.com/science/book/9780128051894 370 01 4370 E-Book: Zugriff im HCU-Netz. Zugriff von außerhalb nur für HCU-Angehörige möglich https://www.sciencedirect.com/science/book/9780128051894 2020 01 DE-Ch1 https://www.sciencedirect.com/science/book/9780128051894 2111 02 DE-944 https://www.sciencedirect.com/science/book/9780128051894 132 01 0959 00 EBooks Elsevier Engineering 105 01 0841 OLR-ELV-TEST 132 01 0959 EBS Elsevier 185 01 3519 OLR-EBS 370 01 4370 EBS Elsevier |
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0128053399 electronic bk. 0-12-805339-9 9780128053393 : electronic bk. 978-0-12-805339-3 (DE-627)1685487289 (DE-576)517987589 (DE-599)KEP003097048 (OCoLC)966869157 (OCoLC)966869157 (EBP)003097048 (ELSEVIER)ocn966869157 DE-627 eng DE-627 rda eng XA-GB TL589.4 TEC 025000 bisacsh TEC 025000 bisacsh Castillo, Pedro 1975- verfasserin aut Indoor navigation strategies for aerial autonomous systems Pedro Castillo García, Laura Elena Munoz Hernandez, Pedro García Gil Oxford, United Kingdom Butterworth-Heinemann/Elsevier [2017] 1 Online-Ressource (xiii, 286 pages) Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index 10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach 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 Drone aircraft Control systems Navigation (Aeronautics) Navigation (Aeronautics) Drone aircraft Control systems TECHNOLOGY & ENGINEERING ; Military Science Drone aircraft ; Control systems Navigation (Aeronautics) Navigation (Aéronautique) (CaQQLa)201-0014465 Drones - Systèmes de commande (CaQQLa)201-0438978 Electronic books Electronic books Munoz Hernandez, Laura Elena verfasserin aut García Gil, Pedro verfasserin aut 0128051892 Erscheint auch als Druck-Ausgabe Castillo, Pedro, 1975- Indoor navigation strategies for aerial autonomous systems http://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag Volltext https://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag lizenzpflichtig (DE-627)879421479 BSZ-33-EBS-HSAA GBV-33-EBS-MRI GBV-33-EBS-ZHB GBV-33-Freedom 2021 ZDB-33-EGE 2017 ZDB-33-EBS ZDB-33-ESD GBV-33-EBS-HST BSZ-33-EBS-C1UB GBV_ILN_105 ISIL_DE-841 SYSFLAG_1 GBV_KXP GBV_ILN_132 ISIL_DE-959 GBV_ILN_185 ISIL_DE-Sra5 GBV_ILN_370 ISIL_DE-1373 GBV_ILN_2020 ISIL_DE-Ch1 GBV_ILN_2111 ISIL_DE-944 GBV ExPruef BO 045F 629.1326 045F 629.132/6 105 01 0841 4074554569 OLR-ELV-TEST Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. Testzugang ZHB Lübeck z 26-02-22 132 01 0959 4500002146 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. Zeitlich begrenzte Lizenzierung k 13-03-24 185 01 3519 4514692379 OLR-EBS Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. z 23-04-24 370 01 4370 4540279874 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. i z 20-06-24 2020 01 DE-Ch1 4520358604 00 --%%-- --%%-- n n Campuslizenz l01 03-05-24 2111 02 DE-944 4046049847 00 --%%-- E-Book Elsevier --%%-- n Elektronischer Volltext - Campuslizenz l01 27-01-22 105 01 0841 http://www.sciencedirect.com/science/book/9780128051894 132 01 0959 Zugriff nur für Angehörige der Hochschule Osnabrück im Hochschulnetz https://www.sciencedirect.com/science/book/9780128051894 185 01 3519 http://www.sciencedirect.com/science/book/9780128051894 370 01 4370 E-Book: Zugriff im HCU-Netz. Zugriff von außerhalb nur für HCU-Angehörige möglich https://www.sciencedirect.com/science/book/9780128051894 2020 01 DE-Ch1 https://www.sciencedirect.com/science/book/9780128051894 2111 02 DE-944 https://www.sciencedirect.com/science/book/9780128051894 132 01 0959 00 EBooks Elsevier Engineering 105 01 0841 OLR-ELV-TEST 132 01 0959 EBS Elsevier 185 01 3519 OLR-EBS 370 01 4370 EBS Elsevier |
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0128053399 electronic bk. 0-12-805339-9 9780128053393 : electronic bk. 978-0-12-805339-3 (DE-627)1685487289 (DE-576)517987589 (DE-599)KEP003097048 (OCoLC)966869157 (OCoLC)966869157 (EBP)003097048 (ELSEVIER)ocn966869157 DE-627 eng DE-627 rda eng XA-GB TL589.4 TEC 025000 bisacsh TEC 025000 bisacsh Castillo, Pedro 1975- verfasserin aut Indoor navigation strategies for aerial autonomous systems Pedro Castillo García, Laura Elena Munoz Hernandez, Pedro García Gil Oxford, United Kingdom Butterworth-Heinemann/Elsevier [2017] 1 Online-Ressource (xiii, 286 pages) Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index 10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach 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 Drone aircraft Control systems Navigation (Aeronautics) Navigation (Aeronautics) Drone aircraft Control systems TECHNOLOGY & ENGINEERING ; Military Science Drone aircraft ; Control systems Navigation (Aeronautics) Navigation (Aéronautique) (CaQQLa)201-0014465 Drones - Systèmes de commande (CaQQLa)201-0438978 Electronic books Electronic books Munoz Hernandez, Laura Elena verfasserin aut García Gil, Pedro verfasserin aut 0128051892 Erscheint auch als Druck-Ausgabe Castillo, Pedro, 1975- Indoor navigation strategies for aerial autonomous systems http://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag Volltext https://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag lizenzpflichtig (DE-627)879421479 BSZ-33-EBS-HSAA GBV-33-EBS-MRI GBV-33-EBS-ZHB GBV-33-Freedom 2021 ZDB-33-EGE 2017 ZDB-33-EBS ZDB-33-ESD GBV-33-EBS-HST BSZ-33-EBS-C1UB GBV_ILN_105 ISIL_DE-841 SYSFLAG_1 GBV_KXP GBV_ILN_132 ISIL_DE-959 GBV_ILN_185 ISIL_DE-Sra5 GBV_ILN_370 ISIL_DE-1373 GBV_ILN_2020 ISIL_DE-Ch1 GBV_ILN_2111 ISIL_DE-944 GBV ExPruef BO 045F 629.1326 045F 629.132/6 105 01 0841 4074554569 OLR-ELV-TEST Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. Testzugang ZHB Lübeck z 26-02-22 132 01 0959 4500002146 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. Zeitlich begrenzte Lizenzierung k 13-03-24 185 01 3519 4514692379 OLR-EBS Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. z 23-04-24 370 01 4370 4540279874 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. i z 20-06-24 2020 01 DE-Ch1 4520358604 00 --%%-- --%%-- n n Campuslizenz l01 03-05-24 2111 02 DE-944 4046049847 00 --%%-- E-Book Elsevier --%%-- n Elektronischer Volltext - Campuslizenz l01 27-01-22 105 01 0841 http://www.sciencedirect.com/science/book/9780128051894 132 01 0959 Zugriff nur für Angehörige der Hochschule Osnabrück im Hochschulnetz https://www.sciencedirect.com/science/book/9780128051894 185 01 3519 http://www.sciencedirect.com/science/book/9780128051894 370 01 4370 E-Book: Zugriff im HCU-Netz. Zugriff von außerhalb nur für HCU-Angehörige möglich https://www.sciencedirect.com/science/book/9780128051894 2020 01 DE-Ch1 https://www.sciencedirect.com/science/book/9780128051894 2111 02 DE-944 https://www.sciencedirect.com/science/book/9780128051894 132 01 0959 00 EBooks Elsevier Engineering 105 01 0841 OLR-ELV-TEST 132 01 0959 EBS Elsevier 185 01 3519 OLR-EBS 370 01 4370 EBS Elsevier |
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0128053399 electronic bk. 0-12-805339-9 9780128053393 : electronic bk. 978-0-12-805339-3 (DE-627)1685487289 (DE-576)517987589 (DE-599)KEP003097048 (OCoLC)966869157 (OCoLC)966869157 (EBP)003097048 (ELSEVIER)ocn966869157 DE-627 eng DE-627 rda eng XA-GB TL589.4 TEC 025000 bisacsh TEC 025000 bisacsh Castillo, Pedro 1975- verfasserin aut Indoor navigation strategies for aerial autonomous systems Pedro Castillo García, Laura Elena Munoz Hernandez, Pedro García Gil Oxford, United Kingdom Butterworth-Heinemann/Elsevier [2017] 1 Online-Ressource (xiii, 286 pages) Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Includes bibliographical references and index 10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach 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 Drone aircraft Control systems Navigation (Aeronautics) Navigation (Aeronautics) Drone aircraft Control systems TECHNOLOGY & ENGINEERING ; Military Science Drone aircraft ; Control systems Navigation (Aeronautics) Navigation (Aéronautique) (CaQQLa)201-0014465 Drones - Systèmes de commande (CaQQLa)201-0438978 Electronic books Electronic books Munoz Hernandez, Laura Elena verfasserin aut García Gil, Pedro verfasserin aut 0128051892 Erscheint auch als Druck-Ausgabe Castillo, Pedro, 1975- Indoor navigation strategies for aerial autonomous systems http://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag Volltext https://www.sciencedirect.com/science/book/9780128051894 X:ELSEVIER Verlag lizenzpflichtig (DE-627)879421479 BSZ-33-EBS-HSAA GBV-33-EBS-MRI GBV-33-EBS-ZHB GBV-33-Freedom 2021 ZDB-33-EGE 2017 ZDB-33-EBS ZDB-33-ESD GBV-33-EBS-HST BSZ-33-EBS-C1UB GBV_ILN_105 ISIL_DE-841 SYSFLAG_1 GBV_KXP GBV_ILN_132 ISIL_DE-959 GBV_ILN_185 ISIL_DE-Sra5 GBV_ILN_370 ISIL_DE-1373 GBV_ILN_2020 ISIL_DE-Ch1 GBV_ILN_2111 ISIL_DE-944 GBV ExPruef BO 045F 629.1326 045F 629.132/6 105 01 0841 4074554569 OLR-ELV-TEST Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. Testzugang ZHB Lübeck z 26-02-22 132 01 0959 4500002146 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots. Zeitlich begrenzte Lizenzierung k 13-03-24 185 01 3519 4514692379 OLR-EBS Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Die Weitergabe an Dritte sowie systematisches Downloaden sind untersagt. z 23-04-24 370 01 4370 4540279874 EBS Elsevier Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. 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Indoor navigation strategies for aerial autonomous systems |
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10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach 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 Includes bibliographical references and index |
| abstractGer |
10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach 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 Includes bibliographical references and index |
| abstract_unstemmed |
10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach 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 Includes bibliographical references and index |
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| title_short |
Indoor navigation strategies for aerial autonomous systems |
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http://www.sciencedirect.com/science/book/9780128051894 https://www.sciencedirect.com/science/book/9780128051894 |
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