Multi-rotor control and autonomous mission through simulation
In the field of robotics, particularly in aerial robotics, multi-rotors are experiencing expeditious growth in popularity due to the wide-scaled application of them. Despite it being an underactuated system, there is ultimately an increasing attention being paid towards this mini flying machine. Thu...
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| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
2019
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| Online Access: | http://hdl.handle.net/10356/77898 |
| _version_ | 1826120468948582400 |
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| author | Sim, Huan Cong |
| author2 | Wang Youyi |
| author_facet | Wang Youyi Sim, Huan Cong |
| author_sort | Sim, Huan Cong |
| collection | NTU |
| description | In the field of robotics, particularly in aerial robotics, multi-rotors are experiencing expeditious growth in popularity due to the wide-scaled application of them. Despite it being an underactuated system, there is ultimately an increasing attention being paid towards this mini flying machine. Thus, multi-rotors are classified as a standard platform in robotics research throughout the world.
Multi-rotors are classified under Micro Aerial Vehicles (MAV) and thus the terms are used interchangeably in this paper. Firstly. this paper provides information of the dynamics of a typical multi-rotor and basic flight theory for the multi-rotors. Subsequently, control architecture of a typical flight controllers is explained, which consists of position control, attitude control etc. Furthermore, two control algorithms, model predictive control (MPC) and proportional-integral-derivative (PID) will be studied. Next, simulation details regarding multi-rotor using Robot Operating System (ROS) and Gazebo 3D simulator will be explored. In addition, realistic outdoor environment is constructed under Gazebo simulator. Lastly, creating a ROS node functioning as a waypoint publisher to the multi-rotor and using different controllers to analyse the multi-rotor performance will be studied. |
| first_indexed | 2024-10-01T05:17:15Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/77898 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:17:15Z |
| publishDate | 2019 |
| record_format | dspace |
| spelling | ntu-10356/778982023-07-07T16:18:49Z Multi-rotor control and autonomous mission through simulation Sim, Huan Cong Wang Youyi School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering In the field of robotics, particularly in aerial robotics, multi-rotors are experiencing expeditious growth in popularity due to the wide-scaled application of them. Despite it being an underactuated system, there is ultimately an increasing attention being paid towards this mini flying machine. Thus, multi-rotors are classified as a standard platform in robotics research throughout the world. Multi-rotors are classified under Micro Aerial Vehicles (MAV) and thus the terms are used interchangeably in this paper. Firstly. this paper provides information of the dynamics of a typical multi-rotor and basic flight theory for the multi-rotors. Subsequently, control architecture of a typical flight controllers is explained, which consists of position control, attitude control etc. Furthermore, two control algorithms, model predictive control (MPC) and proportional-integral-derivative (PID) will be studied. Next, simulation details regarding multi-rotor using Robot Operating System (ROS) and Gazebo 3D simulator will be explored. In addition, realistic outdoor environment is constructed under Gazebo simulator. Lastly, creating a ROS node functioning as a waypoint publisher to the multi-rotor and using different controllers to analyse the multi-rotor performance will be studied. Bachelor of Engineering (Electrical and Electronic Engineering) 2019-06-07T08:29:55Z 2019-06-07T08:29:55Z 2019 Final Year Project (FYP) http://hdl.handle.net/10356/77898 en Nanyang Technological University 70 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Sim, Huan Cong Multi-rotor control and autonomous mission through simulation |
| title | Multi-rotor control and autonomous mission through simulation |
| title_full | Multi-rotor control and autonomous mission through simulation |
| title_fullStr | Multi-rotor control and autonomous mission through simulation |
| title_full_unstemmed | Multi-rotor control and autonomous mission through simulation |
| title_short | Multi-rotor control and autonomous mission through simulation |
| title_sort | multi rotor control and autonomous mission through simulation |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering |
| url | http://hdl.handle.net/10356/77898 |
| work_keys_str_mv | AT simhuancong multirotorcontrolandautonomousmissionthroughsimulation |