Hybrid Control of an Autonomous Helicopter

This paper proposes a hierarchical hybrid architecture of a reactive system that governs the operation of a helicopter based UAV. The mission of the helicopter is to search for, investigate and locate objects in an unknown environment. To perform visual navigation, the helicopter is equipped with a FlightVehicle Management System(FVMS) and a vision system that scans the ground for objects and landmarks. Hybrid system combines continuous dynamics with discrete automata, and therefore provides a congenial framework to integrate planning, vision and control. Computer Aided Design tools for real-time embedded systems enhance the conception and verification of the FVMS