Abstract
A control algorithm based on the required differential equations of deviations is proposed to solve the problem of tracing the desired trajectory by target position. The flight path is planned on the basis of the author’s method of calculation of a flat trajectory consisting of oriented segments of straight lines connected by Euler spirals. The software and hardware complex of the automatic flight control system is presented. The operability of the control system in the presence of measurement noises and external disturbances is confirmed by the results of experiments to control the flight of a quadcopter indoors.
Similar content being viewed by others
REFERENCES
M. Kuckelhaus, D. Niezgoda, and S. Endriß, Unmanned Aerial Vehicles in Logistics (DHL, Troisdorf, 2014).
V. Duggal, M. Sukhwani, K. Bipin, G. S. Reddy, and K. M. Krishna, ‘‘Plantation monitoring and yield estimation using autonomous quadcopter for precision agriculture,’’ in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Stockholm, Sweden, 2016, pp. 5121–5127. https://doi.org/10.1109/ICRA.2016.7487716
P. Ćwiakała, R. Kocierz, E. Puniach, M. Nedzka, K. Mamczarz, W. Niewiem, and P. Wiacek, ‘‘Assessment of the possibility of using unmanned aerial vehicles (uavs) for the documentation of hiking trails in alpine areas,’’ Sensors 18, 81 (2017). https://doi.org/10.3390/s18010081
Ch. Zhang and J. M. Kovacs, ‘‘The application of small unmanned aerial systems for precision agriculture: a review,’’ Precis. Agric. 13, 693–712 (2012). https://doi.org/10.1007/s11119-012-9274-5
O. Brock and O. Khatib, ‘‘Real-time replanning in high-dimensional configuration spaces using sets of homotopic paths,’’ in Proc Int. Conf. on Robotics and Automation (ICRA), San Francisco, 2000, pp. 550–555. https://doi.org/10.1109/ROBOT.2000.844111
J. S. Pershina, S. Ya. Kazdorf, and A. V. Lopota, ‘‘Methods of mobile robot visual navigation and environment mapping,’’ Optoelectron., Instrum. Data Process. 55, 181–188 (2019). https://doi.org/10.3103/S8756699019020109
S. Thrun, M. Montemerlo, H. Dahlkamp, et al., ‘‘Stanley: The robot that won the DARPA Grand Challenge,’’ J. Field Rob. 23, 661–692 (2006). https://doi.org/10.1002/rob.20147
J. Connors and G. Elkaim, ‘‘Analysis of a spline based, obstacle avoiding path planning algorithm,’’ in Proc. IEEE 65th Vehicular Technology Conf. (VTC2007-Spring), Dublin, 2007), pp. 2565–2569. https://doi.org/10.1109/VETECS.2007.528
J. Kim, M.-S. Kang, and S. Park, ‘‘Accurate modeling and robust hovering control for a quad–rotor vtol aircraft,’’ J. Intell. Rob. Syst. 57, 9–26 (2010). https://doi.org/10.1007/s10846-009-9369-z
S. A. Belokon’, Yu. N. Zolotukhin, K. Yu. Kotov, A. S. Mal’tsev, A. A. Nesterov, V. Ya. Pivkin, M. A. Sobolev, M. N. Filippov, and A. P. Yan, ‘‘Using the Kalman filter in the quadrotor vehicle trajectory tracking system,’’ Optoelectron., Instrum. Data Process. 49, 536–545 (2013). https://doi.org/10.3103/S8756699013060022
S. A. Belokon’, Yu. N. Zolotukhin, and A. A. Nesterov, ‘‘Aircraft path planning with the use of smooth trajectories,’’ Optoelectron., Instrum. Data Process. 53, 1–8 (2017). https://doi.org/10.3103/S8756699017010010
S. A. Belokon’, Yu. N. Zolotukhin, A. S. Mal’tsev, A. A. Nesterov, M. N. Filippov, and A. P. Yan, ‘‘Control of flight parameters of a quadrotor vehicle moving over a given trajectory,’’ Optoelectron., Instrum. Data Process. 48, 454–461 (2012). https://doi.org/10.3103/S8756699012050044
A. S. Dimova, K. Yu. Kotov, A. S. Mal’tsev, A. A. Nesterov, and M. N. Filippov, ‘‘Quadrotor control in payload transportation on suspension,’’ Optoelectron., Instrum. Data Process. 54, 520–524 (2018). https://doi.org/10.3103/S8756699018050151
L. Meier, D. Honegger, and M. Pollefeys, ‘‘PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms,’’ in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Seattle, 2015, pp. 6235–6240. https://doi.org/10.1109/ICRA.2015.7140074
M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, ‘‘ROS: an open-source robot operating system,’’ in ICRA Workshop on Open Source Software 3, 2009, p. 5.
Funding
This work was supported by the Ministry of Science and Higher Education of the Russian Federation, project no. AAAA-A17-117060610006-6.
Author information
Authors and Affiliations
Corresponding authors
Additional information
Translated by O. Pismenov
About this article
Cite this article
Kotov, K.Y., Mal’tsev, A.S., Nesterov, A.A. et al. Algorithms and Architecture of the Multirotor Aircraft Trajectory Motion Control System. Optoelectron.Instrument.Proc. 56, 228–235 (2020). https://doi.org/10.3103/S8756699020030085
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.3103/S8756699020030085