en:navigation_d_un_avion_miniature_de_surveillance_aerienne_en_presence_de_vent
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| en:navigation_d_un_avion_miniature_de_surveillance_aerienne_en_presence_de_vent [2016/04/07 16:20] – created castillo | en:navigation_d_un_avion_miniature_de_surveillance_aerienne_en_presence_de_vent [2016/04/07 17:33] (current) – castillo | ||
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| - | ====== | + | ====== |
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| **PhD title: | **PhD title: | ||
| - | == Embedded vision localization and control of an aerial drone == | + | == Navigation |
| - | == (Commande et localisation embarquée | + | |
| \\ | \\ | ||
| - | Co-advisor: | + | Co-advisor: |
| - | Grant: | + | Grant: |
| Location: Heudiasyc \\ | Location: Heudiasyc \\ | ||
| - | Date PhD finished: | + | Date PhD finished: |
| \\ | \\ | ||
| - | __Current position__: **IR at Heudiasyc Laboratory, France**\\ | + | __Current position__: **IR at Renault, France**\\ |
| \\ | \\ | ||
| + | |||
| + | |||
| == Abstract == | == Abstract == | ||
| - | This research work addresses the | + | This research work addresses the flight |
| - | ight behavior of lightweight xed-wing UAVs in | + | windy conditions. Such aerial devices |
| - | windy conditions. Such aerial devices | + | |
| - | ight | + | |
| control design from theory to practice in addition to providing a proper solution in | control design from theory to practice in addition to providing a proper solution in | ||
| environments inaccessible or dangerous to human beings. However, not having a | environments inaccessible or dangerous to human beings. However, not having a | ||
| human pilot onboard implies that UAVs rely on automation to navigate or to avoid | human pilot onboard implies that UAVs rely on automation to navigate or to avoid | ||
| obstacles. In addition, their relatively low operating speed makes them particularly | obstacles. In addition, their relatively low operating speed makes them particularly | ||
| - | a ected by the wind eld. | + | a ected by the wind fi eld. |
| + | \\ | ||
| Motivated by these considerations, | Motivated by these considerations, | ||
| - | theoretical and experimental results in designing | + | theoretical and experimental results in designing |
| - | ight controllers for small xed-wing | + | UAVs of conventional con guration allowing for stable |
| - | UAVs of conventional con guration allowing for stable | + | |
| - | ight in windy conditions. In | + | |
| order to achieve these objectives, several research areas are being addressed in this | order to achieve these objectives, several research areas are being addressed in this | ||
| thesis as it follows. | thesis as it follows. | ||
| + | \\ | ||
| + | |||
| First, a comprehensive study on the aerodynamic aspect of the airplane is conducted | First, a comprehensive study on the aerodynamic aspect of the airplane is conducted | ||
| in order to obtain the mathematical model of the aircraft in presence of wind. | in order to obtain the mathematical model of the aircraft in presence of wind. | ||
| Line 43: | Line 44: | ||
| easier to analyze and simulate and more adapted to the design of control strategies, | easier to analyze and simulate and more adapted to the design of control strategies, | ||
| are presented. | are presented. | ||
| + | \\ | ||
| + | |||
| Secondly, the problem to be solved is formulated as a trajectory following problem | Secondly, the problem to be solved is formulated as a trajectory following problem | ||
| - | in which the | + | in which the flight |
| - | ight controller must be able to steer the vehicle along a path. Navigation | + | |
| strategies are developed in order to minimize the airplane deviation relative to the | strategies are developed in order to minimize the airplane deviation relative to the | ||
| reference trajectory. The wind is considered initially measurable by a ground station | reference trajectory. The wind is considered initially measurable by a ground station | ||
| and, then, estimated using adaptive navigation based on the theory of Lyapunov. | and, then, estimated using adaptive navigation based on the theory of Lyapunov. | ||
| The performance of the estimation algorithm is improved using control design based | The performance of the estimation algorithm is improved using control design based | ||
| - | on the tuning functions method. | + | on the tuning functions method.\\ |
| The third axis of research is the design and the implementation of an experimental | The third axis of research is the design and the implementation of an experimental | ||
| setup which consists of a ground station used for visualization and control purposes | setup which consists of a ground station used for visualization and control purposes | ||
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en/navigation_d_un_avion_miniature_de_surveillance_aerienne_en_presence_de_vent.1460038842.txt.gz · Last modified: 2016/04/07 16:20 by castillo
