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Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV) to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous(More)
Space-vector (SV) pulse width modulation (PWM) technique has become a popular PWM technique for three-phase voltage-source inverters (VSI) in applications such as control of AC induction and permanent-magnet synchronous motors. This document gives an in-depth discussion of the theory and implementation of the SV PWM technique. Two different SV PWM waveform(More)
Small unmanned aerial vehicles (UAVs) are becoming popular among researchers and vital platforms for several autonomous mission systems. In this paper, we present the design and development of a miniature autonomous rotorcraft weighing less than 700 g and capable of waypoint navigation, trajectory tracking, visual navigation, precise hovering, and automatic(More)
In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of waypoint navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft, a lightweight/portable and inexpensive Guidance, Navigation, and Control(More)
IMPORTANT NOTICE Texas Instruments (TI) reserves the right to make changes to its products or to discontinue any semiconductor product or service without notice, and advises its customers to obtain the latest version of relevant information to verify, before placing orders, that the information being relied on is current. TI warrants performance of its(More)
This paper presents the development of vision based autonomous helicopter at Chiba University. The platform is designed to enable autonomous flight of a small-scale helicopter in unstructured environment. 3D vision system is chosen for the perception and measurement purpose. The whole system is designed with the consideration of payload, hardware(More)
In this paper, a detailed description of the controller design for a wall-climbing micro-robot using LF2407 DSP chip is presented. Because of its high-speed performance, its support for multi-motor control and its low power consumption, LF2407 DSP from TI demonstrates itself as an ideal candidate for a single chip controller for the wall-climbing(More)
New generations of motor control digital signal processors (DSPs) lower their supply voltages from 5V to 3.3V to offer higher performance at lower cost. Replacing traditional 5V digital control circuitry by 3.3V designs introduce no additional system cost and no significant complication in interfacing with TTL and CMOS compatible components, as well as with(More)