Search results for " Path following"
showing 5 items of 5 documents
AUTOMATIC TAKE-OFF OR LANDING PATH FOLLOWING IN TURBULENT AIR FOR UAS - AN EKF BASED PROCEDURE
2015
By using the Extended Kalman Filter (EKF) an accurate take-off or landing flight path following in turbulent air is performed. The tuned up procedure employs simultaneously two different EKF: the first one estimates gust disturbances, the second one affords to determine the necessary controls displacements for rejecting those ones. In particular, the first filter, by using instrumental measurements gathered in turbulent air, estimates wind components. The second one obtains command laws able to follow the desired flight path. To perform this task aerodynamic coefficients have been modified by adding entirely new derivatives or synthetic increments to basic ones whose might the kind of chang…
Generalizing LARS algorithm using differential geometry
2009
We propose a path following algorithm for generalized linear models that can be considered a differential geometric generalization of the LARS algorithm. In our approach we use differential geometry to generalize the equiangular condition on which is based the LARS algorithm and then we use a predictor-corrector method to compute the solution path of the coefficients.
Importance of force feedback for following uneven virtual paths with a stylus
2021
It is commonly known that a physical textured path can be followed by indirect touch through a probe also in absence of vision if sufficiently informative cues are delivered by the other sensory channels, but prior research indicates that the level of performance while following a virtual path on a touchscreen depends on the type and channel such cues belong to. The re-enactment of oriented forces, as they are induced by localized obstacles in probe-based exploration, may be important to equalize the performance between physical and virtual path following. Using a stylus attached to a force-feedback arm, an uneven path marked by virtual bars was traversed while time and positions were measu…
AN EKF BASED PROCEDURE FOR AUTOMATIC PATH FOLLOWING IN TURBULENT AIR
2017
Aim of the present paper is to propose a procedure to afford an accurate automatic path following in turbulent air. The technique is based on the simultaneous employment of two different EKF. The first estimates disturbances, the second one estimates deflection that are necessary to reject the estimated disturbances. The first EKF uses measurements gathered in turbulent air. The second EKF obtains command laws able to follow the desired flight path rejecting disturbances. To purchase the objective, aerodynamic coefficients have been modified by adding entirely new derivatives or synthetic increments to basic ones. The modified aircraft parameters are determined by augmenting the aircraft’s …
Optimal Flight Path Determination in Turbulent Air: A Modified EKF Approach
2018
By using the Extended Kalman Filter an accurate path following in turbulent air is performed. The procedure employs simultaneously two dierent EKFs: the rst one estimates disturbances, the second one aords to determine the necessary controls displacements for rejecting those ones. To tune the EKFs an optimization algorithm has been designed to automatically determine Process Noise Covariance and Measurement Noise Covariance matrices. The rst lter, by using instrumental measurements gathered in turbulent air, estimates wind components. The second one obtains command laws able to follow the desired ight path. To perform this task aerodynamic coecients have been modied. Such a procedure leads …