contributor author | Vishnu Kumar Kaliappan | |
contributor author | Hanmaro Yong | |
contributor author | Min Dugki | |
contributor author | Eunmi Choi | |
contributor author | Agus Budiyono | |
date accessioned | 2017-05-08T21:34:12Z | |
date available | 2017-05-08T21:34:12Z | |
date copyright | July 2014 | |
date issued | 2014 | |
identifier other | %28asce%29as%2E1943-5525%2E0000292.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/56444 | |
description abstract | Over the past decades, substantial research has been undertaken in the design of intelligent architecture for the rotorcraft-based unmanned aerial vehicles (RUAV). Designing intelligent architecture is a challenging problem because future RUAVs are utterly autonomous and their performance is comparable with that of manned vehicles. This paper deals with the design and development of a layered architectural framework that addresses the issue arising in autonomous intelligent control systems. The architecture consists of two layers. The high-level layer is occupied by planning routines. In this level, the waypoints and mission tasks from the command center are executed. The function of the low-level layer is to stabilize the flight and follow the commanded trajectory from the upper layer. These layers integrate the following functionalities: (1) waypoint navigation and control, which includes auto-landing; (2) obstacle detection and avoidance; (3) fault detection and identification; and (4) system reconfiguration in two levels (high-level and low-level controllers). The resulting layered architecture is discussed in detail. Moreover, the novel fault detection and identification method is developed to address multiplicative and additive faults. A testing environment for RUAV is developed to validate this architecture. Complete setup is carried out using an embedded board run under a real-time operating system. The algorithms are tested and evaluated using hardware-in-the-loop simulation (HILS). The simulation result proves that the proposed architecture demonstrates the desired efficiency and reliability. | |
publisher | American Society of Civil Engineers | |
title | Reconfigurable Intelligent Control Architecture of a Small-Scale Unmanned Helicopter | |
type | Journal Paper | |
journal volume | 27 | |
journal issue | 4 | |
journal title | Journal of Aerospace Engineering | |
identifier doi | 10.1061/(ASCE)AS.1943-5525.0000292 | |
tree | Journal of Aerospace Engineering:;2014:;Volume ( 027 ):;issue: 004 | |
contenttype | Fulltext | |