Embedded control and development system for the HERO autonomous helicopter

被引：0
作者：
Ferruz, Joaquin [1 ]
Vega, Victor [1 ]
Ollero, Anibal [1 ]
Blanco, Victor [1 ]
机构：
[1] Univ Seville, GRVC, Escuela Super Ingenieros, Seville, Spain
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, VOLS 1 AND 2 | 2009年
关键词：
UAV; aerial robotics; embedded system; DSP;
D O I：
10.1109/ICMECH.2009.4957234
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper describes the design and implementation of the HERO helicopter, a low-cost UAV platform for research in control and perception, with autonomous flight and on-board image processing capabilities. First, general system goals and requirements are presented, along with a functional description. Then, system design and implementation issues are analysed, including airframe, hardware and software architectures. The paper focuses specially on the low-level controller and its implementation, including its flexible, modular runtime support system and off-line simulation tools. System modularity allows for easy system upgrade and reconfiguration. Finally, real flight experimental results are presented, including the tracking of a complex waypoint path.
引用
收藏
页码：131 / +
页数：2
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