On Constrained Nonlinear Tracking Control of a Small Fixed-wing UAV
Journal of Intelligent and Robotic Systems
Direct adaptive neural flight control system for an unstable unmanned aircraft
Applied Soft Computing
Journal of Intelligent and Robotic Systems
Accurate Modeling and Robust Hovering Control for a Quad---rotor VTOL Aircraft
Journal of Intelligent and Robotic Systems
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
Journal of Intelligent and Robotic Systems
An Efficient Path Planning and Control Algorithm for RUAV's in Unknown and Cluttered Environments
Journal of Intelligent and Robotic Systems
Nonlinear robust stochastic control for unmanned aerial vehicles
ACC'09 Proceedings of the 2009 conference on American Control Conference
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A Survey of Autonomous Control for UAV
AICI '09 Proceedings of the 2009 International Conference on Artificial Intelligence and Computational Intelligence - Volume 02
A minimalist control strategy for small UAVs
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Output feedback control of a quadrotor UAV using neural networks
IEEE Transactions on Neural Networks
Constrained motion control using vector potential fields
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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Simultaneous planning and control of a large variety of unmanned aerial vehicles (UAVs) is tackled using the harmonic potential field (HPF) approach. A dense reference velocity field generated from the gradient of an HPF is used to regulate the velocity of the UAV concerned in a manner that would propel the UAV to a target point while enforcing the constraints on behavior that were a priori encoded in the reference field. The regulation process is carried-out using a novel and simple concept called the: virtual velocity attractor (VVA). The combined effect of the HPF gradient and the VVA is found able to yield an efficient, easy to implement, well-behaved and provably-correct context-sensitive control action that suits a wide variety of UAVs. The approach is developed and basic proofs of correctness are provided along with simulation results.