Artificial Intelligence

   

Autopilot to Maintain Movement of a Drone in a Vertical Plane at a Constant Height in the Presence of Vision-Based Navigation

Authors: Shiran Avasker, Alexander Domoshnitsky, Max Kogan, Oleg Kupervaser, Hennadii Kutomanov, Yonatan Rofsov, Irina Volinsky, Roman Yavich

The main finding this paper is nontrivial and implicit possibility to use well developed mathematical theory of differential equations with delays for solving actual engineering problem of a drone autonomous flight. In this paper we describe correct operation of autopilot for supply correct drone flight. There exists noticeable delay in getting information about position and orientation of a drone to autopilot in the presence of vision-based navigation. In spite of this fact, we demonstrate that it is possible to provide stable flight at a constant height in a vertical plane. We describe how to form relevant controlling signal for autopilot in the case of the navigation information delay and provide control parameters for particular case of flight.

Comments: 18 Pages.

Download: PDF

Submission history

[v1] 2019-01-05 12:42:49
[v2] 2019-06-23 06:58:33
[v3] 2019-08-20 22:17:30

Unique-IP document downloads: 23 times

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