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Journal articles on the topic 'Quadrotor Software Design'

Author: Grafiati

Published: 4 June 2021

Last updated: 5 February 2022

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1

Huang, Z. W., Z. Chen, B. P. Bian, and Y. Tang. "Design of Quadrotor Helicopter Based on STM32." Applied Mechanics and Materials 644-650 (September 2014): 790–93. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.790.

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Quadrotor helicopter is light and very agile aerial robots which attracted much attention of scientists. A practical implementation of a quadrotor helicopter based on STM32 is described in this article, applying MPU6050 and other inertial sensors. The hardware structures and software flow chart of flight control are both presented. The discussions with the key problems during the process of implementation are also made.

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Wang, Hanzhang, and Yisha Liu. "A low-cost autonomous navigation system for a quadrotor in complex outdoor environments." International Journal of Advanced Robotic Systems 17, no. 1 (2020): 172988142090515. http://dx.doi.org/10.1177/1729881420905150.

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In this article, we design a low-cost navigation system for a quadrotor working in unknown outdoor environments. To reduce the computing burden of the quadrotor, we build a separated system and transfer the computing resources from onboard side to ground station side. Both sides’ communication is guaranteed by 5G wireless networks. We utilize a stereo camera to acquire point clouds and build Octomap for the quadrotor’s navigation. Then, the trajectory is generated in two stages. In the first stage, a modified RRT*-CONNECT algorithm is adopted to generate a set of collision-free waypoints. In t

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3

Xiaochen Dong, and Fei Yan. "Design of Attitude Control System for Quadrotor." International Journal of Digital Content Technology and its Applications 7, no. 5 (2013): 350–57. http://dx.doi.org/10.4156/jdcta.vol7.issue5.42.

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Benbouali, Abderrahmen, Fayçal Chabni, Rachid Taleb, and Noureddine Mansour. "Flight parameters improvement for an unmanned aerial vehicle using a lookup table based fuzzy PID controller." Indonesian Journal of Electrical Engineering and Computer Science 23, no. 1 (2021): 171. http://dx.doi.org/10.11591/ijeecs.v23.i1.pp171-178.

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In this paper, a control scheme based on lookup table fuzzy proportionalintegral-derivate (PID) controller for the quadrotor unmanned aerial vehicle (UAV) movement control is proposed. This type of control provides enhanced quadrotor movement control beyond what can be achieved with conventional controllers and has a less computational burden on the processor. The proposed control scheme uses three lookup table based fuzzy logic controllers to control the different movement ranges of a quadrotor (i.e. roll, pitch, and yaw) to achieve stability. The mathematical model of a quadrotor, used to de

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Huang, Sibo, Jianfeng Huang, Zhaoquan Cai, and Han Cui. "Adaptive Backstepping Sliding Mode Control for Quadrotor UAV." Scientific Programming 2021 (September 13, 2021): 1–13. http://dx.doi.org/10.1155/2021/3997648.

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Quadrotor UAV has a strong mobility and flexibility in flight and has been widely used in military and civil fields in recent years. An adaptive backstepping sliding mode control (ABSMC) method is proposed to address the trajectory tracking control problem of quadrotor UAV based on actuator fault and external disturbance. In the proposed method, the switching gain of adaptive sliding mode control is constructed in the backstepping design process in order to suppress the chattering effect of sliding mode control effectively by differential iteration. Firstly, the dynamic model of quadrotor UAV

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Lasmadi, Lasmadi. "Sistem Navigasi Quadrotor Berbasis IMU dengan Kalman Filter." ELKHA 11, no. 1 (2019): 39. http://dx.doi.org/10.26418/elkha.v11i1.30502.

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The navigation system on quadrotor is important to maintain stability and determine its own position when flying autonomously. The GPS can provide the position measurement, but it has limitations in the specific environments and cannot provide the orientation information. This study aims to design the navigation system for quadrotor based on IMU sensor with Kalman filters using the state space model. The system model was developed using Matlab software. Kalman filter is designed to estimate the navigation data and eliminate noise on the sensor so that it can improve the measurement accuracy. T

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Abro, Ghulam E. Mustafa, Saiful Azrin B. M. Zulkifli, Vijanth Sagayan Asirvadam, and Zain Anwar Ali. "Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV." Actuators 10, no. 8 (2021): 191. http://dx.doi.org/10.3390/act10080191.

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The underactuated quadrotor unmanned aerial vehicle (UAV) is one of the nonlinear systems that have few actuators as compared to the degree of freedom (DOF); thus, it is a strenuous task to stabilize its attitude and positions. Moreover, an induction of unmodelled dynamic factors and uncertainties make it more difficult to control its maneuverability. In this paper, a model-free based single-dimension fuzzy sliding mode control (MFSDF-SMC) is proposed to control the attitude and positions of underactuated quadrotor UAV. The paper discusses the kinematic and dynamic models with unmodelled dynam

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Boudjit, Kamel, Cherif Larbes, and Naeem Ramzan. "ANN design and implementation for real-time object tracking using quadrotor AR.Drone 2.0." Journal of Experimental & Theoretical Artificial Intelligence 30, no. 6 (2018): 1013–35. http://dx.doi.org/10.1080/0952813x.2018.1509896.

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9

Badr, Sherif, Omar Mehrez, and A. E. Kabeel. "A design modification for a quadrotor UAV: modeling, control and implementation." Advanced Robotics 33, no. 1 (2018): 13–32. http://dx.doi.org/10.1080/01691864.2018.1556116.

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10

Chu, Zhaobi, Songgang Zhou, Min Zhu, and Hua Li. "Finite-time trajectory control for a quadrotor aircraft using disturbance observer." International Journal of Advanced Robotic Systems 17, no. 2 (2020): 172988142090384. http://dx.doi.org/10.1177/1729881420903847.

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In this article, we investigate the problem of finite-time trajectory tracking control for a quadrotor aircraft with unknown external disturbances. To improve convergence rate and disturbance rejection performance, a new composite controller is proposed by integrating finite-time control design and disturbance estimation attenuation technique. Explicit Lyapunov function is given to ensure the finite-time stability of the closed-loop control system. Numerical simulations also show the effectiveness of the proposed method.

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11

Bouallègue, Soufiene, and Rabii Fessi. "LQG controller design for a quadrotor UAV based on particle swarm optimisation." International Journal of Automation and Control 13, no. 5 (2019): 569. http://dx.doi.org/10.1504/ijaac.2019.10021363.

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12

Fessi, Rabii, and Soufiene Bouallègue. "LQG controller design for a quadrotor UAV based on particle swarm optimisation." International Journal of Automation and Control 13, no. 5 (2019): 569. http://dx.doi.org/10.1504/ijaac.2019.101910.

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13

Jalili, Sadegh, Behrooz Rezaie, and Zahra Rahmani. "A novel hybrid model predictive control design with application to a quadrotor helicopter." Optimal Control Applications and Methods 39, no. 4 (2018): 1301–22. http://dx.doi.org/10.1002/oca.2411.

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14

Loianno, Giuseppe, Yash Mulgaonkar, Chris Brunner, et al. "Autonomous flight and cooperative control for reconstruction using aerial robots powered by smartphones." International Journal of Robotics Research 37, no. 11 (2018): 1341–58. http://dx.doi.org/10.1177/0278364918774136.

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Advances in consumer electronics products and the technology seen in personal computers, digital cameras, and smartphones phones have led to the price/performance ratio of sensors and processors falling dramatically over the last decade. In particular, many consumer products are packaged with small cameras, gyroscopes, and accelerometers, all sensors that are needed for autonomous robots in GPS-denied environments. The low mass and small form factor make them particularly well suited for autonomous flight with small flying robots. In this work, we present the first fully autonomous smartphone-

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15

Huang, Chengwei, Yong Liu, and Xi Ye. "Design, simulation and experimental study of a force observer for a flying–perching quadrotor." Robotics and Autonomous Systems 120 (October 2019): 103237. http://dx.doi.org/10.1016/j.robot.2019.07.007.

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16

Zhou, Siqi, Mohamed K. Helwa, and Angela P. Schoellig. "Deep neural networks as add-on modules for enhancing robot performance in impromptu trajectory tracking." International Journal of Robotics Research 39, no. 12 (2020): 1397–418. http://dx.doi.org/10.1177/0278364920953902.

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High-accuracy trajectory tracking is critical to many robotic applications, including search and rescue, advanced manufacturing, and industrial inspection, to name a few. Yet the unmodeled dynamics and parametric uncertainties of operating in such complex environments make it difficult to design controllers that are capable of accurately tracking arbitrary, feasible trajectories from the first attempt (i.e., impromptu trajectory tracking). This article proposes a platform-independent, learning-based “add-on” module to enhance the tracking performance of black-box control systems in impromptu t

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17

Foeken, M. J., and M. Voskuijl. "Knowledge-based simulation model generation for control law design applied to a quadrotor UAV." Mathematical and Computer Modelling of Dynamical Systems 16, no. 3 (2010): 241–56. http://dx.doi.org/10.1080/13873954.2010.506745.

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18

Li, Jinhua, Yun Zheng, Menachem Rafaelof, Hok K. Ng, and Stephen A. Rizzi. "AIRNOISEUAM: An Urban Air Mobility Noise-Exposure Prediction Tool." INTER-NOISE and NOISE-CON Congress and Conference Proceedings 263, no. 6 (2021): 474–85. http://dx.doi.org/10.3397/in-2021-1488.

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A new software tool called AIRNOISEUAM is introduced that models the noise exposure of Urban Air Mobility (UAM) operations. Given relevant UAM aircraft performance models, mission profiles, and Noise-Power-Distance data, AIRNOISEUAM predicts the noise exposure footprint for receptors on the ground. The performance of AIRNOISEUAM using a Robinson R66 helicopter model and a six-passenger quadrotor model, and a diverse set of scenarios from NASA’s UAM human-in-the-loop simulations is compared to that of the industry-standard tool with the same inputs. The predicted noise exposure results from bot

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19

Hang, Fen, and Xiangyang Hao. "The Methods of Information Acquisition and Information Fusion of the Photoelectric Sensor-Based Quadrotor Unmanned Aerial Vehicle." Journal of Nanoelectronics and Optoelectronics 15, no. 1 (2020): 82–91. http://dx.doi.org/10.1166/jno.2020.2744.

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When quadrotor unmanned aerial vehicle (UAV) is performing various tasks, even a small angular error will affect the evaluation of the entire motion trajectory. The multiple photoelectric sensor information fusion technology and the ARM microprocessor platform are used to form an attitude reference system for UAV. First, the hardware design of the small quadrotor UAV attitude reference system based on an ARM is introduced. The design framework and information acquisition module are expounded. In terms of the software of the system, the photoelectric sensor is used to receive different kinds of

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20

An, Ji Ho, Tae Joon Han, and Han Sol Kim. "T-S Fuzzy Model-based Fault Tolerant Tracking Controller Design of a Quadrotor: A Fuzzy Lyapunov Functional Approach." Journal of Institute of Control, Robotics and Systems 27, no. 2 (2021): 154–60. http://dx.doi.org/10.5302/j.icros.2021.20.0165.

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21

Chen, Pi-Yun, and Guan-Yu Chen. "The Design of a TLD and Fuzzy-PID Controller Based on the Autonomous Tracking System for Quadrotor Drones." Intelligent Automation & Soft Computing 26, no. 3 (2020): 489–500. http://dx.doi.org/10.32604/iasc.2020.013925.

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22

Aminsafaee, Maryam, and Mohammad Hossein Shafiei. "A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems." Robotica 38, no. 12 (2020): 2221–38. http://dx.doi.org/10.1017/s0263574720000053.

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SUMMARYThis paper studies the stabilization problem for a class of underactuated systems in the presence of unknown disturbances. Due to less number of control inputs with respect to the degrees of freedom of the system, closed-loop asymptotic stability is a challenging issue in this field. In this paper, anti-swing controllers are designed for nominal and disturbed systems. In the case of the nominal system, the proposed two-loop controller is a combination of collocated partial feedback linearization and hierarchical sliding mode control (HSMC) theories. Then, due to the importance of robust

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23

Andaluz, Víctor H., Cristian M. Gallardo, Fernando A. Chicaiza, et al. "Robot nonlinear control for Unmanned Aerial Vehicles’ multitasking." Assembly Automation 38, no. 5 (2018): 645–60. http://dx.doi.org/10.1108/aa-02-2018-036.

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Purpose This paper aims to present a unified motion control scheme for quadcopters which not only solves the point stabilization and trajectory tracking problems but also the path following problem. Design/methodology/approach The control problem is solved based on the kinematic model of the unmanned aerial vehicles (UAV). Next, a dynamic compensation controller is considered through of a quadcopter-inner-loop system to independently track four velocity commands: forward, lateral, up/downward and heading rate. Stability and robustness of the whole control system are proved through the Lyapunov

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24

Hawkes, Elliot W., Hao Jiang, and Mark R. Cutkosky. "Three-dimensional dynamic surface grasping with dry adhesion." International Journal of Robotics Research 35, no. 8 (2015): 943–58. http://dx.doi.org/10.1177/0278364915584645.

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Most robotic grasping research focuses on objects that are either not large in comparison to the gripper or have small graspable features; however, there are important applications that involve large flat or gently curved surfaces. Examples include robots that grasp the solar panels of space craft, handle large panels in manufacturing, or climb or perch on surfaces. We present a solution for grasping such surfaces consisting of groups of tiles coated with a controllable gecko-inspired adhesive. The tiles are loaded with two sets of tendons: one for distributing the forces evenly while grasping

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25

Bicego, Davide, Jacopo Mazzetto, Ruggero Carli, Marcello Farina, and Antonio Franchi. "Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs." Journal of Intelligent & Robotic Systems 100, no. 3-4 (2020): 1213–47. http://dx.doi.org/10.1007/s10846-020-01250-9.

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AbstractIn this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference trajectory planning and tracking problems. This work brings into question some common modeling and control design choices that are typically adopted to guarantee robustness and reliability but which may severely limit the attainable performance. Unlike most of state of the art works, the proposed method takes advantages of a unified nonlinear model whi

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26

Huang, Jie, Guoqing Tian, Jiancheng Zhang, and Yutao Chen. "On Unmanned Aerial Vehicles Light Show Systems: Algorithms, Software and Hardware." Applied Sciences 11, no. 16 (2021): 7687. http://dx.doi.org/10.3390/app11167687.

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Unmanned aerial vehicle (UAV) light shows (UAV-LS) have a wow factor due to their advantages in terms of environment friendliness and controllability compared to traditional fireworks. In this paper, a UAV-LS system is developed including a collision-free formation transformation trajectory planning algorithm, a software package that facilitates animation design and real-time monitoring and control, and hardware design and realization. In particular, a dynamic task assignment algorithm based on graph theory is proposed to reduce the impact of UAV collision avoidance on task assignment and the

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27

Li, Che-Liang, Ming-Yang Cheng, and Wei-Che Chang. "Dynamic performance improvement of direct image-based visual servoing in contour following." International Journal of Advanced Robotic Systems 15, no. 1 (2018): 172988141775385. http://dx.doi.org/10.1177/1729881417753859.

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Image-based visual servoing (IBVS) has increasingly gained popularity and has been adopted in applications such as industrial robots, quadrotors, and unmanned aerial vehicles. When exploiting IBVS, the image feature velocity command obtained from the visual loop controller is converted to the velocity command of the workspace through the interaction matrix so as to converge image feature error. However, issues such as the noise/disturbance arising from image processing and the smoothness of image feature command are often overlooked in the design of the visual loop controller, especially in a

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28

Charre-Ibarra, Saida, Thonatiuh Valdovinos-Jimenez, Janeth Alcalá-Rodríguez, and Jorge Gudiño-Lau. "Design of a fuzzy controller for open architecture quadrotor." Revista de Tecnología Informática, December 31, 2020, 16–25. http://dx.doi.org/10.35429/jct.2020.13.4.16.25.

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The use of quadrotor helicopters has now increased, especially in civilian applications such as maintenance tasks related to power line or large construction status control, surveillance, crop control in agriculture, work processes in the logistics sector, among others. One of the main problems with some of the conventional designs is the lack of stability. This paper presents the design of a controller using an intelligent control technique to achieve the stability of a quadrotor, to experiment an open architecture quadcopter helicopter was developed, the controller was programmed using LabVI

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29

Ghasemi, Ali, Farhad Parivash, and Serajeddin Ebrahimian. "Autonomous landing of a quadrotor on a moving platform using vision-based FOFPID control." Robotica, September 20, 2021, 1–19. http://dx.doi.org/10.1017/s0263574721001181.

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Abstract This research deals with the autonomous landing maneuver of a quadrotor unmanned aerial vehicle (UAV) on an unmanned ground vehicle (UGV). It is assumed that the UGV moves independently, and there is no communication and collaboration between the two vehicles. This paper aims at the design of a closed-loop vision-based control system for quadrotor UAV to perform autonomous landing maneuvers in the possible minimum time despite the wind-induced disturbance force. In this way, a fractional-order fuzzy proportional-integral-derivative controller is introduced for the nonlinear under-actu

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30

"Resizable Drone Designs: For Maneuvering through Paths of Varying Dimensions." International Journal of Recent Technology and Engineering 8, no. 2 (2019): 3162–66. http://dx.doi.org/10.35940/ijrte.b2907.078219.

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An unmanned aerial vehicle, commonly known as a drone, is an aircraft without a human pilot aboard. Essentially, a drone is a flying robot that can be remotely controlled or fly autonomously through software-controlled flight plans in their embedded systems, Flying robots are increasingly adopted in search and rescue missions because of their capability to quickly collect and stream information from remote and dangerous areas. Their maneuverability and hovering capabilities allow them to navigate through complex structures, inspect damaged buildings, and even explore underground tunnels and ca

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31

Yang, Jianhua. "Improved Control System Design of Quadrotor Helicopter Based on Integral Neural Sliding Mode control." International Journal of Simulation Systems Science & Technology, April 28, 2020. http://dx.doi.org/10.5013/ijssst.a.16.02.09.

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32

Micklisch, Christian, Nathan Hilliard, and Hala ElAarag. "Modeling and simulation of autonomous quadrotor systems and their onboard sensors." SIMULATION, December 8, 2020, 003754972097475. http://dx.doi.org/10.1177/0037549720974753.

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Simulators are valuable tools to evaluate autonomous systems and methods of their control in a cost-effective and safe fashion. There are several implementations of simulators for autonomous systems in the literature. However, they provide limited capabilities in terms of the simulation of specific autonomous methods, for example control, flight, or sensor dynamics. In this paper, we present our design of a simulator for an environment that handles multiple quadrotors with their own set of sensors. We simulate three main sensors to get spatial and environmental information: an Inertial Measure

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33

Derrouaoui, Saddam Hocine, Yasser Bouzid, and Mohamed Guiatni. "PSO Based Optimal Gain Scheduling Backstepping Flight Controller Design for a Transformable Quadrotor." Journal of Intelligent & Robotic Systems 102, no. 3 (2021). http://dx.doi.org/10.1007/s10846-021-01422-1.

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34

Villanueva, Abraham, Luis F. Luque-Vega, Luis E. González-Jiménez, and Carlos A. Arellano-Muro. "Robust Multimode Flight Framework Based on Sliding Mode Control for a Rotary UAV." Robotica, July 24, 2020, 1–19. http://dx.doi.org/10.1017/s0263574720000673.

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SUMMARY This work presents a multimode flight framework control scheme for a quadrotor based on the super twisting algorithm. The controller design stages for six flight control modes are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions, while the stability analysis for the complete control scheme, when a transition from one flight mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is shown in a 3D simulation environment considering a forest fire detection task, which t

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35

Chen, Pi-Yun, and Guan-Yu Chen. "The Design of a TLD and Fuzzy-PID Controller based on the Autonomous Tracking System for Quadrotor Drones." Intelligent Automation and Soft Computing, 2019, —1——1. http://dx.doi.org/10.31209/2019.100000161.

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36

Scanavino, Matteo, Arrigo Avi, Andrea Vilardi, and Giorgio Guglieri. "Unmanned Aircraft Systems Performance in a Climate-Controlled Laboratory." Journal of Intelligent & Robotic Systems 102, no. 1 (2021). http://dx.doi.org/10.1007/s10846-021-01392-4.

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AbstractDespite many research studies focus on strategies to improve autopilot capabilities and bring artificial intelligence onboard Unmanned Aircraft Systems (UAS), there are still few experimental activities related to these vehicle performance under unconventional weather conditions. Air temperature and altitudes directly affect thrust and power coefficients of small scale propeller for UAS applications. Reynolds numbers are usually within the range 10,000 to 100,000 and important aerodynamic effects, such as the laminar separation bubbles, occur with a negative impact on propulsion perfor

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Choutri, Kheireddine, Lagha Mohand, and Laurent Dala. "Design of search and rescue system using autonomous Multi-UAVs." Intelligent Decision Technologies, December 11, 2020, 1–12. http://dx.doi.org/10.3233/idt-190138.

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Over the last several decades advancement in UAV technology has formed an important part of recent research. Nowadays, these flying robots are a great aid and even replace humans in many types of critical activities such as surveillance, fire protection, search & rescue (SAR), etc. In this paper, we study the design of SAR system using autonomous quadrotors UAVs. The developed system attempts to maximize the probability of target detection and minimize the expected search time while also minimizing the number of UAVs required. It is also adapted to counter UAV failures by re-configuring th

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Tilki, Umut, and Ali Can Erüst. "Robust Adaptive Backstepping Global Fast Dynamic Terminal Sliding Mode Controller Design for Quadrotors." Journal of Intelligent & Robotic Systems 103, no. 2 (2021). http://dx.doi.org/10.1007/s10846-021-01475-2.

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Santoso, Fendy, Matthew A. Garratt, and Sreenatha G. Anavatti. "Hybrid PD-Fuzzy and PD Controllers for Trajectory Tracking of a Quadrotor Unmanned Aerial Vehicle: Autopilot Designs and Real-Time Flight Tests." IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020, 1–13. http://dx.doi.org/10.1109/tsmc.2019.2906320.

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