An introduction to splines for use in computer graphics & geometric modeling
An introduction to splines for use in computer graphics & geometric modeling
Numerical Methods Using MATLAB
Numerical Methods Using MATLAB
Theory of Modeling and Simulation
Theory of Modeling and Simulation
Motion Control: Computing the Arc Length of Parametric Curves
IEEE Computer Graphics and Applications
Rapid software prototyping for real-time simulation and control of a mini-helicopter robot
ICS'06 Proceedings of the 10th WSEAS international conference on Systems
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This work is centered in the definition of a transition management system for a small autonomous helicopter based on trajectory smoothing and a finite state machine (FSM). A smooth flight schedule decreases transients originated by direction changes and flight mode transitions (e.g., horizontal flight to hover mode). Although previous works have presented trajectory generation and FSM oriented controls, no previous studies have mixed these approaches in a single framework together with speed transitions. The proposed methods are validated in simulation with a realistic dynamic model of a small helicopter.