Intelligent Controll of an Autonomous Flying Vehicle

点击翻译按钮获取中文摘要

IRI-9528115 Tilbury, Dawn University of Michigan $18,000 - 12 mos Intelligent Controll of an Autonomous Flying Vehicle Intelligent Control of an Autonomous Flying Vehicle This award funds a one-year research planning grant. The goal of this research project is to explore research problems in intelligent contrml and robotics. For this purpose, a completely autonomous flying robot will ultimately be built which can carry out simple tasks within its environment. The issues under investigation include developing a theoretical framework for the interface between the two levels of controllers, incorporating a learning algorithm within the task planner to improve its performance as it becomes more experienced in its environment, and integrating the sensor data with the different controllers to achieve automatic obstacle avoidance while insuring that the goal is reached. The extra degrees of freedom of a flying robot both increase its maneuverability and make it more difficult to control. In contrast to a terrestrial-based robot, a helicopter must always be under automatic control. It can never stop in place, evaluate its current surroundings, compute a new path, and then continue its mission. It is not statically stable, and the dynamic stabilization problem is known to be hard. If these difficulties can be overcome through intelligent control, the result will be a highly-flexible, extremely maneuverable autonomous system.