A Control Scheme for Navigation and Obstacle Avoidance of Autonomous Flying Agent
| Autor: | Dayal R. Parhi, Soumya R. Mohanty, J. C. Mohanta, Anupam Keshari |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering Quadcopter Multidisciplinary business.industry PID controller 020207 software engineering 02 engineering and technology Steering control Microcontroller 020901 industrial engineering & automation Control theory Obstacle avoidance 0202 electrical engineering electronic engineering information engineering business MATLAB computer Simulation computer.programming_language |
| Zdroj: | Arabian Journal for Science and Engineering. 43:1395-1407 |
| ISSN: | 2191-4281 2193-567X |
| DOI: | 10.1007/s13369-017-2899-y |
| Popis: | This paper addresses the problem of trajectory tracking and control of a low-cost flying agent, equipped with a microcontroller for real-time navigation. A flying agent (aircraft-type quadcopter) has been designed and developed for steering control along a planned trajectory. A novel control scheme is developed using MATLAB/Simulink to ensure the right balance among pitch, roll and yaw of the flying agent wings. The proposed control scheme utilises a PID controller which regulates the error dynamics to stabilise the navigation. Various trajectories have been generated and verified through simulation studies as well as tested in a real model. The real-time experiments verify the manoeuvrability of the controller, which also checks the compatibility with hardware interfaces. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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