Performance study of the flight control and path planning for a UAV type Quadrotor

Abstract: Motivated by the important growth of VTOL vehicles research such as quadrotors and to a small extent autonomous flight, PID control laws and a path planning strategy are studied in this thesis. Since this type of multirotor vehicle has a complex dynamics, it is not an easy task to achieve...

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Autores:: Cárdenas Ruiz, César Augusto

Tipo de recurso:

Fecha de publicación:: 2018

Institución:: Universidad Nacional de Colombia

Repositorio:: Universidad Nacional de Colombia

Idioma:: spa

Description
Summary:	Abstract: Motivated by the important growth of VTOL vehicles research such as quadrotors and to a small extent autonomous flight, PID control laws and a path planning strategy are studied in this thesis. Since this type of multirotor vehicle has a complex dynamics, it is not an easy task to achieve a precise control. So, the main goal is to implement a PID controller in simulation. It has showed an acceptable performance particularly in hover condition. Additionally, an autopilot simulator is used as well to validate the attitude and altitude stabilization of a quadrotor. Some changes are made to certain dynamic variables to determine and get a better understanding of the quadrotor flight dynamics (X configuration). In the same way, some modifications to the control parameters are also made in order to examine attitude changes when different paths are designed (X and + configurations). The shortest and/or other possible paths are studied by applying Dubins curves. This method will help to verify the feasibility of these kind of paths for quadrotors. The results are presented through MATLAB and simulations with AP mission planner for Linux.

Performance study of the flight control and path planning for a UAV type Quadrotor

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