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Author Castillo, Pedro, 1975- author.

Title Indoor navigation strategies for aerial autonomous systems / Pedro Castillo García, Laura Elena Munoz Hernandez, Pedro García Gil.

Publication Info. Oxford, United Kingdom : Butterworth-Heinemann/Elsevier, [2017]


Location Call No. OPAC Message Status
 Axe Books 24x7 Engineering E-Book  Electronic Book    ---  Available
Description 1 online resource (xiii, 286 pages .)
text txt rdacontent
computer c rdamedia
online resource cr rdacarrier
Bibliography Includes bibliographical references and index.
Note Print version record.
Contents 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.
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.
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.
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.
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.
Summary Indoor Navigation Strategies for Aerial Autonomous Systems presents the necessary and sufficient theoretical basis for those interested in working in unmanned aerial vehicles, providing three different approaches to mathematically represent the dynamics of an aerial vehicle. The book contains detailed information on fusion inertial measurements for orientation stabilization and its validation in flight tests, also proposing substantial theoretical and practical validation for improving the dropped or noised signals. In addition, the book contains different strategies to control and navigate aerial systems. The comprehensive information will be of interest to both researchers and practitioners working in automatic control, mechatronics, robotics, and UAVs, helping them improve research and motivating them to build a test-bed for future projects.
Subject Drone aircraft -- Control systems.
Navigation (Aeronautics)
Drone aircraft -- Control systems. (OCoLC)fst00898350
Navigation (Aeronautics) (OCoLC)fst01035141
Genre/Form Electronic books.
Added Author Muñoz Hernández, Laura Elena, author.
García Gil, Pedro, author.
Other Form: Print version: Castillo, Pedro, 1975- Indoor navigation strategies for aerial autonomous systems. 0128051892 9780128051894 (OCoLC)958449100
ISBN 9780128053393 (electronic bk.)
0128053399 (electronic bk.)
Standard No. AU@ 000061154249
CHBIS 011069608
CHNEW 001014025
CHVBK 499787242
CHVBK 519280938
GBVCP 879421479
GBVCP 897159551

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