DESIGN AND TEST OF AN AUTONOMOUS HELICOPTER FOR MULTI-VEHICLE COOPERATION

This paper concerns conception and architecture of an autonomous model helicopter. Global goal of the presented work is to realize aero-ground cooperation in multi-vehicle systems. Soft- and hardware architectures of the helicopter, as well as the communication serving this goal are presented together with a comprehensive description of modeling the helicopter's kinematics and dynamics. Control architecture based on this modeling and feasibility of the entire architecture are also presented with simulation and experimental results.