Development and validation of a controlled virtual environment for guidance, navigation and control of quadrotor UAV
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Authors
Choon, Junwei
Subjects
Quadrotor
Qball
6DOF Model
PID
Direct Methods
Trajectory
Optimization
Inverse Dynamics
IDVD
Collision Avoidance
Qball
6DOF Model
PID
Direct Methods
Trajectory
Optimization
Inverse Dynamics
IDVD
Collision Avoidance
Advisors
Yakimenko, Oleg
Kaminer, Isaac
Date of Issue
2013-09
Date
Sep-13
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
This thesis is focused on the development of a six degrees of freedom (6DOF) simulation model of a commercial-off-the-shelf quadrotor. The dynamics of the quadrotor and its control strategy are described. The Geometric Dilution of Precision (GDOP) of the Autonomous Systems Engineering and Integration Laboratory (ASEIL) laboratory used in conducting the experiments is also analyzed. Simulation results are then verified with actual flight data. A direct method of calculus of variations is employed in the development of an algorithm for optimal trajectory generation and collision-free flight. Using the differential-flatness characteristics of the system, the trajectory optimization is posed as a nonlinear constrained optimization problem in virtual domain, not explicitly related to the time domain. Appropriate parameterized functions employing an abstract argument, known as the virtual arc, are used to ensure initial and terminal constraints satisfaction. A speed factor maps the virtual to the time domain and controls the speed profile along any predetermined trajectory. An inner loop attitude controller was used to achieve almost global asymptotic attitude tracking for trajectory following. The trajectory generation and following algorithms were verified using the 6DOF simulation model through a simulated collision avoidance scenario.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Identifiers
NPS Report Number
Sponsors
Funding
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Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.