Nasser Houshangi

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In this paper a hybrid control system for a novel small scale coaxial helicopter is presented. Based on a cascade architecture the control system is made up of an inner-loop, for attitude control, and an outer-loop, for trajectory control. The inner-loop consists of three PID controllers for the roll and pitch angles, and altitude control. The outer-loop(More)
The objective is to accurately determine mobile robots position and orientation by integrating information received from odometry and an inertial sensor. The position and orientation provided by odometry are subject to different types of errors. To improve the odometry, a fiber optic gyroscope is used to give the orientation information that is more(More)
The objective is to accurately determine mobile robots position and orientation by integrating information received from odometry and an inertial sensor. The position and orientation provided by odometry are subject to different types of errors. To improve the odometry, a fiber optic gyroscope is used to give the orientation information that is more(More)
The research objective is to determine an accurate position and orientation for mobile robots based on information received from odometry and inertial sensors. For a wheeled robot, odometry is one of the important means of achieving the robot position. To improve on odometry's error, the information from odometry is integrated with the inertial system using(More)
The objective of the project is to develop a highly manoeuvrable mobile base suitable for operation in a hazardous environment. The base utilizes Omni wheels whose unique motion properties allow for three complete degrees of freedom: two translation degrees and one rotational. Phase I of the project, construction of the Omnibot mobile base is already(More)
The primary objective of our lane following system is to autonomously drive a mobile robot between two parallel lanes. Usually, the low sampling rate and the visibility of the environment are the main limitations of the vision sensors in a lane following system. In this paper, a higher sampling rate odometry sensor is integrated with a vision-based system(More)