The Transition Phase of a Gun-Launched Micro Air Vehicle

  • Authors:

  • C. Chauffaut;J. Escareno;R. Lozano

  • Affiliations:

  • Heudiasyc UMR 7253, Université de Technologie de Compiegne, Compiegne, France 60200;Heudiasyc UMR 7253, Université de Technologie de Compiegne, Compiegne, France 60200;Heudiasyc UMR 7253, Université de Technologie de Compiegne, Compiegne, France 60200 and UMI LAFMIA CINVESTAV-CNRS, México, D.F., México 07360

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2013

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Abstract

The present paper addresses the transition stage of a Gun-Launched Micro Air Vehicle (GLMAV) whose main goal is to rapidly position a rotorcraft MAV over a high-risk scene (Prison riots, blind zones: e.g. over-the-hill, etc.). The development of this robotic platform is part of an overall ongoing project (GLMAV) headed by the St. Louis French-German Research Institute (ISL). The vehicle is launched at a distance of 500 m and a height of 100 m, where the GLMAV will collect and transmit visual information from the scene. Issues raising from the use of the gun-based launching technique are discussed in detail. A control strategy is proposed to overcome such problems and to stabilize the GLMAV. High-fidelity simulations, covering ballistic and transition phases, validate the control policy adopted to face the MAV gun-launching problem.