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IDENTIFICATION, CONTROL AND VISUALLY-GUIDED BEHAVIOR
FOR A MODEL HELICOPTER
by
Srikanth Saripalli
A Dissertation Presented to the
FACULTY OF THE GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(COMPUTER SCIENCE)
August 2007
Copyright 2007 Srikanth Saripalli
Object Description
| Title | Identification, control and visually-guided behavior for a model helicopter |
| Author | Saripalli, Srikanth |
| Author email | srik@usc.edu |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Computer Science |
| School | Viterbi School of Engineering |
| Date defended/completed | 2007-04-18 |
| Date submitted | 2007 |
| Restricted until | Unrestricted |
| Date published | 2007-07-23 |
| Advisor (committee chair) | Sukhatme, Gaurav S. |
| Advisor (committee member) |
Schaal, Stefan Flashner, Henryk |
| Abstract | Research on unmanned aerial vehicles is motivated by applications where human intervention is impossible, risky or expensive e.g. hazardous material recovery, traffic monitoring, disaster relief support, military operations etc. Due to its vertical take-off, landing and hover capabilities, a helicopter is an attractive platform for such applications. There are significant challenges to building an autonomous robotic helicopter -- these span the areas of system identification, low-level control, state estimation, and planning.; Towards the goal of fully-autonomous helicopters this thesis makes the following contributions. A continuous-discrete extended Kalman filter has been developed that combines inertial data with GPS and compass data to provide estimates of the 6DOF state of the helicopter. Using this filter a model for the helicopter has been identified based on frequency response techniques. The model has been validated in flight tests on a small helicopter testbed (1.6 m rotor diameter) at speeds upto 5 m/s. Based on evidence from this model a decoupled low-level controller has been developed which is embedded in a control architecture suitable for visually-guided navigation. As a novel application, we show how such a controller can be used to perform trajectory following on the helicopter where the desired trajectories are typical spacecraft landing trajectories, and the only controls available are thrusters. This in effect, produces a low-cost testbed for testing spacecraft landing and hazard avoidance on a planetary surface. -- Finally, we develop and extensively experimentally characterize algorithms for vision-based autonomous landing, object tracking, and sensor deployment. |
| Keyword | UAV; autonomous helicopters; state estimation; system identification; control; robotics |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Type | texts |
| Legacy record ID | usctheses-m643 |
| Rights | Saripalli, Srikanth |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | http://www.usc.edu/isd/libraries/services/ask_a_librarian/email/ |
| Filename | etd-Saripalli-20070723 |
| Archival file | uscthesesreloadpub_Volume23/etd-Saripalli-20070723.pdf |
Description
| Title | Page 1 |
| Full text | IDENTIFICATION, CONTROL AND VISUALLY-GUIDED BEHAVIOR FOR A MODEL HELICOPTER by Srikanth Saripalli A Dissertation Presented to the FACULTY OF THE GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (COMPUTER SCIENCE) August 2007 Copyright 2007 Srikanth Saripalli |
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