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Autonomous Landing of an Unmanned Helicopter on a Moving Platform based on LP Path Planning

Chong Wu, Dalei Song, Juntong Qi, Jianda Han

Abstract


Autonomous landing of an unmanned helicopter on a moving platform can greatly expand its application field. In this paper, a path planning method based on linear programming (LP) is proposed in the relative coordination to finish the autonomous landing task. First, the landing procedure is devided into four stages. Then, the linear constraints in each stage are estrablished accordingly which include helicopter's flight envelope constraint and target kinematical constraint. Based on the established LP formulations, the flight control system's optimal velocity expectation is derived. Asimulation system based on Flight Gear and Matlab is established and used as the validation platform for this approach, the simulation results demonstrate the effectiveness and efficiency of this approach and the real flight  test is under development.

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DOI: http://dx.doi.org/10.21535%2FProICIUS.2012.v8.811

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