Memorias de investigación
Ponencias en congresos:
TG2M: Trajectory Generator and Guidance Module for the Aerial Vehicle Control Language AVCL
Año:2009
Áreas de investigación
  • Automática
Datos
Descripción
This paper presents a novel framework for high-level complex mission planning ¿ AVCL and its built-in trajectory generator module ¿ TG2M. For the mission planning we present a language capable of describing the missions and capabilities of a heterogeneous group of vehicles, which includes its interpreter, a definition of a base-vehicle, and a Mission Planner (MP) that uses GIS as the data-model for the world. This MP is not tied to a particular set of vehicles, sensors or commands, which means that at any given time new functionality can be loaded and displayed to the human operator as new options and commands, allowing to control and display N mission at the same time. In addition for low-level mission guidance, the TG2M addresses the feature of generating complex trajectories within mission-specific constraints, improving the typical civil system which use basic trajectory-generation algorithms, capable only of linear waypoint navigation, with little or non-existent control over the trajectory. Final experiments will test the TG2M mathematical framework for trajectory generation showing the AVCL capabilities for the mission planning and control of the UAV.
Internacional
Si
Nombre congreso
40th INTERNATIONAL SYMPOSIUM ON ROBOTICS (ISR 2009)
Tipo de participación
960
Lugar del congreso
Barcelona España
Revisores
Si
ISBN o ISSN
978-84-920933-8-0
DOI
Fecha inicio congreso
10/03/2009
Fecha fin congreso
13/03/2009
Desde la página
225
Hasta la página
232
Título de las actas
Proceedings 40th INTERNATIONAL SYMPOSIUM ON ROBOTICS (ISR 2009)
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Grupo de Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial