NDLI: Group Control of Robotic Mini Vessel and Helicopter

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Group Control of Robotic Mini Vessel and Helicopter

Content Provider	ACM Digital Library
Author	Olesya, Kosenko Boris, Gurenko Kulchenko, Artem Andrey, Maevskiy
Abstract	The paper discusses issues related to group control of robotic small-scale-vessel and small-scale helicopter. General statement of the task is given in the introduction. Regime of helicopter landing on the vessel is highlighted as significant factor. Helicopter autopilot is based on the position-path control algorithms and positioning algorithm is used for landing. In this case, the landing site on the small-scale vessel is given by a target point. Paper includes nonlinear mathematical model of the single-rotor helicopter with tail rotor, which was used for the synthesis of control algorithms. Equations of dynamics, kinematics, and components of control forces are given. Authors note, that special simulation systems are commonly used for the safe testing of aircraft autopilots. Their use also speeds up development of robotic system at certain stages, and in some cases enables automation. This paper describes the hardware-in-the-loop simulation system. The diagram of HIL system indicates the communication architecture and interaction of its components. This system can be used to simulate other types of aircraft (multicopters, aircrafts). Simulation results are presented along with experiment discussion and conclusions about the given trajectory of the helicopter.
Starting Page	66
Ending Page	71
Page Count	6
File Format	PDF
ISBN	9781450352130
DOI	10.1145/3029610.3029647
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2016-12-07
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Helicopter Control Mini vessel Mathematical model Group robotics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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