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Design and implementation of a mini quadrotor control system in GPS denied environments

Design and implementation of a mini quadrotor control system in GPS denied environments
Design and implementation of a mini quadrotor control system in GPS denied environments
This paper presents the design of quadrotor control architecture, based on crowd-sourcing electronics. The aim of this quadrotor is to provide a test-bed for vision-based autonomous navigation system in GPS denied environments. The control architecture consists of a cascaded structure, where an attitude controller nested in velocity and altitude controllers. The sub-controllers are all linear controllers with feedforward term to linearize the quadrotor dynamics. The control and sensor fusion algorithm is developed under Arduino compatible open source electronics, whereas the complete design also includes an additional downward facing optical flow sensor (PX4FLOW camera) for horizontal velocity estimation and vehicle altitude estimation, and a separate Linux embedded computer (Odriod-U3) for future Simultaneous Localization And Mapping (SLAM) vision algorithm development. In current stage, by utilizing the PX4FLOW sensor, it is capable of horizontal velocity control and altitude hold. Besides, a ground station GUI software is developed in MATLAB for two-way telemetry visualization and in-air parameter tuning.
978-1-4799-6009-5
439-446
Liu, Chang
7c245137-3dbb-41c6-84e6-e40181b25a0d
Prior, Stephen D.
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced
Liu, Chang
7c245137-3dbb-41c6-84e6-e40181b25a0d
Prior, Stephen D.
9c753e49-092a-4dc5-b4cd-6d5ff77e9ced

Liu, Chang and Prior, Stephen D. (2015) Design and implementation of a mini quadrotor control system in GPS denied environments. 2015 International Conference on Unmanned Aircraft Systems (ICUAS), Denver, United States. 09 - 12 Jun 2015. pp. 439-446 . (doi:10.1109/ICUAS.2015.7152324).

Record type: Conference or Workshop Item (Paper)

Abstract

This paper presents the design of quadrotor control architecture, based on crowd-sourcing electronics. The aim of this quadrotor is to provide a test-bed for vision-based autonomous navigation system in GPS denied environments. The control architecture consists of a cascaded structure, where an attitude controller nested in velocity and altitude controllers. The sub-controllers are all linear controllers with feedforward term to linearize the quadrotor dynamics. The control and sensor fusion algorithm is developed under Arduino compatible open source electronics, whereas the complete design also includes an additional downward facing optical flow sensor (PX4FLOW camera) for horizontal velocity estimation and vehicle altitude estimation, and a separate Linux embedded computer (Odriod-U3) for future Simultaneous Localization And Mapping (SLAM) vision algorithm development. In current stage, by utilizing the PX4FLOW sensor, it is capable of horizontal velocity control and altitude hold. Besides, a ground station GUI software is developed in MATLAB for two-way telemetry visualization and in-air parameter tuning.

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Design and Implementation of A Mini Quadrotor Control System in GPS Denied Environments - ICUAS 2015.pdf - Accepted Manuscript
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More information

Accepted/In Press date: 18 April 2015
Published date: 11 June 2015
Venue - Dates: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), Denver, United States, 2015-06-09 - 2015-06-12
Organisations: Computational Engineering & Design Group

Identifiers

Local EPrints ID: 378016
URI: http://eprints.soton.ac.uk/id/eprint/378016
ISBN: 978-1-4799-6009-5
PURE UUID: 9cc8b608-069a-4c36-aa09-d00b823dc27f
ORCID for Chang Liu: ORCID iD orcid.org/0000-0002-6967-5159
ORCID for Stephen D. Prior: ORCID iD orcid.org/0000-0002-4993-4942

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Date deposited: 16 Jun 2015 09:23
Last modified: 15 Mar 2024 03:45

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Author: Chang Liu ORCID iD

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