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...
- Autores:
-
Cárdenas Ruiz, César Augusto
- Tipo de recurso:
- Fecha de publicación:
- 2018
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/62399
- Acceso en línea:
- https://repositorio.unal.edu.co/handle/unal/62399
http://bdigital.unal.edu.co/61508/
- Palabra clave:
- 62 Ingeniería y operaciones afines / Engineering
Quadrotor
PID control
VTOL
flight dynamics
path planning
Control PID
dinámica de vuelo
planificación de trayectoria.
- Rights
- openAccess
- License
- Atribución-NoComercial 4.0 Internacional
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| dc.title.spa.fl_str_mv |
Performance study of the flight control and path planning for a UAV type Quadrotor |
| title |
Performance study of the flight control and path planning for a UAV type Quadrotor |
| spellingShingle |
Performance study of the flight control and path planning for a UAV type Quadrotor 62 Ingeniería y operaciones afines / Engineering Quadrotor PID control VTOL flight dynamics path planning Control PID dinámica de vuelo planificación de trayectoria. |
| title_short |
Performance study of the flight control and path planning for a UAV type Quadrotor |
| title_full |
Performance study of the flight control and path planning for a UAV type Quadrotor |
| title_fullStr |
Performance study of the flight control and path planning for a UAV type Quadrotor |
| title_full_unstemmed |
Performance study of the flight control and path planning for a UAV type Quadrotor |
| title_sort |
Performance study of the flight control and path planning for a UAV type Quadrotor |
| dc.creator.fl_str_mv |
Cárdenas Ruiz, César Augusto |
| dc.contributor.advisor.spa.fl_str_mv |
Ramírez, Ricardo (Thesis advisor) |
| dc.contributor.author.spa.fl_str_mv |
Cárdenas Ruiz, César Augusto |
| dc.contributor.spa.fl_str_mv |
Grisales, Víctor Hugo |
| dc.subject.ddc.spa.fl_str_mv |
62 Ingeniería y operaciones afines / Engineering |
| topic |
62 Ingeniería y operaciones afines / Engineering Quadrotor PID control VTOL flight dynamics path planning Control PID dinámica de vuelo planificación de trayectoria. |
| dc.subject.proposal.spa.fl_str_mv |
Quadrotor PID control VTOL flight dynamics path planning Control PID dinámica de vuelo planificación de trayectoria. |
| description |
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. |
| publishDate |
2018 |
| dc.date.issued.spa.fl_str_mv |
2018-01-09 |
| dc.date.accessioned.spa.fl_str_mv |
2019-07-02T20:59:23Z |
| dc.date.available.spa.fl_str_mv |
2019-07-02T20:59:23Z |
| dc.type.spa.fl_str_mv |
Trabajo de grado - Maestría |
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info:eu-repo/semantics/masterThesis |
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info:eu-repo/semantics/acceptedVersion |
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Text |
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http://purl.org/redcol/resource_type/TM |
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acceptedVersion |
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https://repositorio.unal.edu.co/handle/unal/62399 |
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http://bdigital.unal.edu.co/61508/ |
| url |
https://repositorio.unal.edu.co/handle/unal/62399 http://bdigital.unal.edu.co/61508/ |
| dc.language.iso.spa.fl_str_mv |
spa |
| language |
spa |
| dc.relation.ispartof.spa.fl_str_mv |
Universidad Nacional de Colombia Sede Bogotá Facultad de Ingeniería Departamento de Ingeniería Mecánica y Mecatrónica Ingeniería Mecatrónica Ingeniería Mecatrónica |
| dc.relation.references.spa.fl_str_mv |
Cárdenas Ruiz, César Augusto (2018) Performance study of the flight control and path planning for a UAV type Quadrotor. Maestría thesis, Universidad Nacional de Colombia - Sede Bogotá. |
| dc.rights.spa.fl_str_mv |
Derechos reservados - Universidad Nacional de Colombia |
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http://purl.org/coar/access_right/c_abf2 |
| dc.rights.license.spa.fl_str_mv |
Atribución-NoComercial 4.0 Internacional |
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http://creativecommons.org/licenses/by-nc/4.0/ |
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info:eu-repo/semantics/openAccess |
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Atribución-NoComercial 4.0 Internacional Derechos reservados - Universidad Nacional de Colombia http://creativecommons.org/licenses/by-nc/4.0/ http://purl.org/coar/access_right/c_abf2 |
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Atribución-NoComercial 4.0 InternacionalDerechos reservados - Universidad Nacional de Colombiahttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Grisales, Víctor HugoRamírez, Ricardo (Thesis advisor)e4faecf9-82a0-46ae-89b5-0068babeeb41-1Cárdenas Ruiz, César Augusto50c6e2df-cf02-4d1d-bb92-a31cad8a3a263002019-07-02T20:59:23Z2019-07-02T20:59:23Z2018-01-09https://repositorio.unal.edu.co/handle/unal/62399http://bdigital.unal.edu.co/61508/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.Resumen: En los últimos años el interés por la investigación en vehículos aéreos no tripulados autónomos tipo VTOL (Despegue y Aterrizaje Vertical) ha tenido un significante crecimiento. En éste trabajo se estudian las leyes de control PID y una estrategia de planificación de trayectoria. Debido a la compleja dinámica de éste tipo de plataformas multirotor, lograr un control adecuado de las mismas resulta no ser una tarea fácil. Por lo tanto, el principal objetivo es implementar un controlador PID en simulación el cuál ha evidenciado tener un rendimiento adecuado particularmente en condición hover. Adicionalmente, se emplea un simulador de autopiloto con el propósito de validar el comportamiento de la orientación y la altura de un quadrotor. Se realizan algunos cambios a los valores de las variables dinámicas con el fin de determinar y tener una mejor compresión de la mecánica de vuelo. (Configuración X). Igualmente, ciertas modificaciones se realizan a los parámetros de control para examinar los cambios que se puedan presentar en orientación cuando se diseñan diferentes trayectorias (Configuraciones X, +). Las trayectorias posibles y/ó las más cortas se plantean aplicando curvas de Dubins. Este método será útil para verificar la viabilidad de ésta clase de trayectorias en quadrotores. Los resultados se presentan haciendo uso de MATLAB y simulaciones con AP mission planner en Linux.Maestríaapplication/pdfspaUniversidad Nacional de Colombia Sede Bogotá Facultad de Ingeniería Departamento de Ingeniería Mecánica y Mecatrónica Ingeniería MecatrónicaIngeniería MecatrónicaCárdenas Ruiz, César Augusto (2018) Performance study of the flight control and path planning for a UAV type Quadrotor. Maestría thesis, Universidad Nacional de Colombia - Sede Bogotá.62 Ingeniería y operaciones afines / EngineeringQuadrotorPID controlVTOLflight dynamicspath planningControl PIDdinámica de vueloplanificación de trayectoria.Performance study of the flight control and path planning for a UAV type QuadrotorTrabajo de grado - Maestríainfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/acceptedVersionTexthttp://purl.org/redcol/resource_type/TMORIGINALcesaraugustocardenasruiz.2017.pdfapplication/pdf18151120https://repositorio.unal.edu.co/bitstream/unal/62399/1/cesaraugustocardenasruiz.2017.pdf25064a9891318325f86b63a86e056a9bMD51THUMBNAILcesaraugustocardenasruiz.2017.pdf.jpgcesaraugustocardenasruiz.2017.pdf.jpgGenerated Thumbnailimage/jpeg4398https://repositorio.unal.edu.co/bitstream/unal/62399/2/cesaraugustocardenasruiz.2017.pdf.jpg46dc9c253d87a793f9e94e4794853187MD52unal/62399oai:repositorio.unal.edu.co:unal/623992023-04-16 23:06:10.829Repositorio Institucional Universidad Nacional de Colombiarepositorio_nal@unal.edu.co |