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Hardware-in-the-loop test rig to capture aerial robot and sensor suite performance metrics
Conference proceeding

Hardware-in-the-loop test rig to capture aerial robot and sensor suite performance metrics

Vefa Narli, Paul Y. Oh and IEEE
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, pp 3521-3526
01 Jan 2006
DOI: https://doi.org/10.1109/IROS.2006.281637
Featured in Collection :   UN Sustainable Development Goals @ Drexel

Abstract

Automation & Control Systems Computer Science Computer Science, Artificial Intelligence Robotics Science & Technology Technology
Fully autonomous aerial robots are needed to accomplish near-Earth missions such as search and rescue, and bio-chemical sensing. Recent advances in sensor technologies ([6], [8], [3], [7]) urge the aerial robotics community towards full autonomy. Only then, the sensors that are needed to detect obstacles will become more accurate, reliable, and smaller. The lack of flight test data in near-Earth environments poses a gap in the modeling and integration of obstacle detection sensors. To help advance the aerial robotics field we designed a hardware-in-the-loop system for near-Earth flying robots. The hardware-in-the-loop system generates the motion of the actual robotic aircraft in near-Earth environment by implementing model reference adaptive control (MRAC). The high-fidelity math model of the robotic aircraft is the reference model of the MRAC. The controller structure of the system is explained in this paper.

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9 citations in Web of Science
17 citations in Scopus

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Web of Science research areas
Automation & Control Systems
Computer Science, Artificial Intelligence
Robotics
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