Bio-inspired TauPilot for automated aerial 4D docking and landing of Unmanned Aircraft Systems

Kendoul, Farid; Ahmed, Bilal

doi:10.1109/iros.2012.6385586

Cited by 19 publications

(14 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Most of the applications are using the Tau theory in the control of ground robots, very few works have been found for controlling the UAVs based on the Tau theory. The first report of applying the Tau theory in the UAV system was provided by Farid and Ahmed in 2012 [34].…”

Section: B Landing Control Implementationmentioning

confidence: 99%

Biomimetic Design for Unmanned Aerial Vehicle Safe Landing in Hazardous Terrain

Luo

et al. 2015

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

Unmanned aerial vehicles capable of hazardous terrain landing are desirable for intelligence collection. A crucial point is the landing gears autonomous adaptation to the rough surface, which is especially difficult in unknown and constrained environment. To enable this capability, this paper proposes a novel biomimetic system that ascertains terrain appearances like large obstacles and precipitous slope using a monocular camera and adjusts the mechatronics landing structure according to the terrain. A dynamic model including the ground effect is provided and a time-to-contact theory based backstepping nonlinear controller is designed to reject uncertainty disturbances as well as implement a bio-inspired guidance strategy for soft landing in hazardous terrain. The mechatronic architecture and cascade control structure using custom-built unmanned air vehicle platform are presented. Experimental results and video footage demonstrate this biomimetic approach efficiently controls a vehicle successfully landing in unknown and unstructured constrained environment.Index Terms-biomimetic design, autonomous landing, hazardous terrain adaptation, unmanned air vehicle (UAV)1083-4435 (c)

show abstract

Section: B Landing Control Implementationmentioning

confidence: 99%

Biomimetic Design for Unmanned Aerial Vehicle Safe Landing in Hazardous Terrain

Luo

et al. 2015

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…However, a small number of research activities have used τ to provide vehicle guidance solutions. Here, τ is either computed indirectly by measuring the motion gap and the gap closure rate [29] or by extracting the time to contact from the observed optical flow using feature scales [30].…”

Section: Introductionmentioning

confidence: 99%

Development of a Generic Time-to-Contact Pilot Guidance Model

Jump

Padfield

2018

Journal of Guidance, Control, and Dynamics

View full text Add to dashboard Cite

“…While investigations on tau theory have been carried out enthusiastically and consistently in perceptual psychology, it's only in recent years that applications of tau theory or TTC to ground robots 12,13 and to unmanned aerial vehicles (UAVs) 14-17, were published. Kendoul and Ahmed 14 , for the first time, developed a tau theory based autopilot controller, TauPilot, for unmanned aircraft systems (UASs). The TauPilot consists of a tau-navigation system which computes tau for the identified motion gap with online sensor data, a tau-guidance system which predicts future movements based on the prospective guidance laws of tau theory, and a tau-control system which integrates the tau-guidance laws to regulate the movement of the UASs.…”

Section: Introductionmentioning

confidence: 99%