Cart (Loading....) | Create Account
Close category search window
 

Control of an unconventional VTOL UAV for search and rescue operations within confined spaces based on the MARC control architecture

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Dhaliwal, S.S. ; Dept. of Mech. & Manuf. Eng., Univ. of Calgary, Calgary, AB, Canada ; Ramirez-Serrano, A.

This paper presents a Modular Architecture for Robotic Control (MARC) for unconventional Unmanned Vehicle Systems (UVS) with search and rescue applications. The MARC architecture is able to produce complex UVS behaviors with the interaction of multiple independent modular controllers, which are extremely difficult or impossible to execute via traditional control methodologies. This paper presents the implementation of the proposed architecture on a Double-Ducted Vertical Take-off and Landing (VTOL) vehicle, capable of performing complex maneuvers. The vehicle is designed specifically for flight within confined spaces. This paper also presents the results of the implementation showing that unconventional UVS can be used as optimal platforms for indoor flight executing diverse tasks such as obstacle avoidance and exploration. The results show that the proposed approach enables the test vehicle to fully use its flight characteristics which incorporate complex control in six Degrees of Freedom (DOF) for rapid navigation and "aggressive" maneuvers allowing large vehicular angles of attack. The results showcase the potential for the MARC control system to optimize the performance of mobile robotics, specifically unconventional vehicles.

Published in:

Safety, Security & Rescue Robotics (SSRR), 2009 IEEE International Workshop on

Date of Conference:

3-6 Nov. 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.