Indoor navigation strategies for aer...
Castillo, Pedro, (1975-)

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  • Indoor navigation strategies for aerial autonomous systems
  • 紀錄類型: 書目-電子資源 : Monograph/item
    正題名/作者: Indoor navigation strategies for aerial autonomous systems/ Pedro Castillo García, Laura Elena Munoz Hernandez, Pedro García Gil.
    作者: Castillo, Pedro,
    其他作者: Muñoz Hernández, Laura Elena,
    出版者: Oxford, United Kingdom :Butterworth-Heinemann/Elsevier, : 2017.,
    面頁冊數: 1 online resource (xiii, 286 p.)
    內容註: Front Cover; Indoor Navigation Strategies for Aerial Autonomous Systems; Copyright; Contents; About the Authors; Preface; Acknowledgments; Part 1 Background; 1 State-of-the-Art; 1.1 Mathematical Representation of the Vehicle Dynamics; 1.2 Attitude Estimation Using Inertial Sensors; 1.3 Delay Systems & Predictors; 1.4 Data Fusion for UAV Localization; 1.5 Control & Navigation Algorithms; 1.6 Trajectory Generation & Tracking; 1.7 Obstacle Avoidance; 1.8 Teleoperation; References; 2 Modeling Approaches; 2.1 Force and Moment in a Rotor; 2.2 Euler-Lagrange Approach; 2.3 Newton-Euler Approach.
    內容註: 2.4 Quaternion Approach2.5 Discussion; References; Part 2 Improving Sensor Signals for Control Purposes; 3 Inertial Sensors Data Fusion for Orientation Estimation; 3.1 Attitude Representation; 3.2 Sensor Characterization; 3.3 Attitude Estimation Algorithms; 3.4 A Computationally-Efficient Kalman Filter; 3.5 Discussion; References; 4 Delay Signals & Predictors; 4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays; 4.2 State Predictor-Control Scheme; 4.3 Discussion; References; 5 Data Fusion for UAV Localization; 5.1 Sensor Data Fusion.
    內容註: 5.2 Prototype and Numerical Implementation5.3 Flight Tests and Experimental Results; 5.4 OptiTrack Measurements vs EKF Estimation; 5.5 Rotational Optical Flow Compensation; 5.6 Discussion; References; Part 3 Navigation Schemes & Control Strategies; 6 Nonlinear Control Algorithms with Integral Action; 6.1 From PD to PID Controllers; 6.2 Saturated Controllers with Integral Component; 6.3 Integral and Adaptive Backstepping Control -- IAB; 6.4 Discussion; References; 7 Sliding Mode Control; 7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression.
    內容註: 7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design7.3 Numerical Validation; 7.4 Real-Time Validation; 7.5 Discussion; References; 8 Robust Simple Controllers; 8.1 Nonlinear Robust Algorithms Based on Saturation Functions; 8.2 Robust Control Based on an Uncertainty Estimator; 8.3 Discussion; References; 9 Trajectory Generation, Planning & Tracking; 9.1 Quadrotor Mathematical Description; 9.2 Time-Optimal Trajectory Generation; 9.3 UAV Routing Problem for Inspection-Like Missions; 9.4 Trajectory Tracking Problem; 9.5 Simulation Results; 9.6 Discussion; References.
    內容註: 10 Obstacle Avoidance10.1 Artificial Potential Field Method; 10.2 Obstacle Avoidance Algorithm; 10.3 Limit-Cycle Obstacle Avoidance; 10.4 Discussion; References; 11 Haptic Teleoperation; 11.1 Experimental Setup; 11.2 Collision Avoidance; 11.3 Haptic Teleoperation; 11.4 Real-Time Experiments; 11.5 Discussion; References; Index; Back Cover.
    標題: Drone aircraft - Control systems. -
    電子資源: https://www.sciencedirect.com/science/book/9780128051894
    ISBN: 9780128053393 (electronic bk.)
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