Laser interferometry-based tracking of multirotor helicopters

Robert Porter, Bijan Shirinzadeh, Man Ho Choi, Umesh Krishna Bhagat

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Abstract

This paper presents the development and implementation of laser interferometry-based sensing and measurement for precise positioning and tracking of multirotor helicopters. A control architecture is developed, which incorporates position feedback from a laser interferometry-based sensing and measurement system. A dynamics model of multirotor helicopters is established in order to achieve position and motion control. The control architecture facilitates auto-alignment of the laser-beam and cat-eye retroreector mounted on the multirotor helicopter. A theoretical analysis of laser interferometrybased sensing and measurement for positioning of multirotor helicopters is performed. Further, an experimental research facility is established with a laser system and 4-rotor helicopter. Experimental study and error analysis offer evidence that the laser based system maintains laser-beam and retroreector alignment, facilitating continuous, real-time precise position measurements.
Original languageEnglish
Title of host publication2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2015)
EditorsSungshin Kim, Yasuharu Kunii
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1559 - 1564
Number of pages6
ISBN (Print)9781467391078
DOIs
Publication statusPublished - 2015
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2015 - Bexco, Busan, Korea, Dem Rep of (North)
Duration: 7 Jul 201511 Jul 2015
http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7190945 (Proceedings)

Conference

ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2015
Abbreviated titleAIM 2015
CountryKorea, Dem Rep of (North)
CityBusan
Period7/07/1511/07/15
Internet address

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