Intelligent Controll of an Autonomous Flying Vehicle

自动飞行器的智能控制自动飞行器的智能控制该奖项为一项为期一年的研究计划提供资金。这个研究项目的目标是探索智能控制和机器人的研究问题。为此，一个完全自主的飞行机器人最终将被制造出来，它可以在其环境中执行简单的任务。正在研究的问题包括为两级控制器之间的接口开发一个理论框架，在任务规划器中加入一个学习算法，随着它在环境中变得更有经验，以提高其性能，并将传感器数据与不同的控制器集成，以实现自动避障，同时确保达到目标。飞行机器人的额外自由度既增加了其机动性，又使其更难控制。与陆基机器人相比，直升机必须始终处于自动控制之下。它永远不会在原地停下来，评估当前的环境，计算出一条新的路径，然后继续它的任务。它不是静态稳定的，而动态稳定问题是众所周知的难题。如果这些困难可以通过智能控制克服，结果将是一个高度灵活，极具可操作性的自主系统。

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.