四旋翼物品抓取的模擬與實現

The Simulation and Realization of Object-grasping of Quadrotor

廖庭廣(Tin-Kuang Liao)

指導教授 ： 馬德明

淡江大學/工學院/航空太空工程學系碩士班/碩士(2015年)

https://doi.org/10.6846/TKU.2015.00494

摘要

本論文主旨在於以小型四旋翼機達成物體抓取的目標，文內會探討四旋翼機的物理模型以及控制方法，根據所設計的增益值響應圖可得知其符合作者所設定的需求，三邊測量法以及訊號強度指示分別作為四旋翼機的位置判別和目標導航，且加入四旋翼機模型以MATLAB Simulink進行模擬，文內亦會介紹抓取機構和無線通訊模組等硬體，達成抓取物體目標的實現。

關鍵字

四旋翼飛行器 ； MATLAB ； SISOTOOL ； Navigation ； 抓取 ； 三邊測量 ； RSSI ； XBEE

並列摘要

The purpose of the study is to make the quadrotor achieve obeject-grasping successfully. The modeling of the quadrotor and the control method are discussed in the thesis. The response of the gain design shows the requirement is met. Trilateration and RSSI (Received Signal Strength Indicator) value are used to perform position identifying and target navigation respectively. The quadrotor system is simulated under MATLAB Simulink. Hardware such as grasping-mechanism and radio module are also mentioned. The result revealed that object-grasping is possible for micro aerial vehicle.

並列關鍵字

Quadrotor ； MATLAB ； SISOTOOL ； Navigation ； Grasping ； Trilateration ； RSSI ； XBEE

參考文獻

[1] Warren F. Phillips, Mechanics of Flight., John Wiley Sons, Inc., United States of America, 2004.

[5] Luis Peneda, Abílio Azenha and Adriano Carvalho, "Trilateration for Indoors Positioning Within the Framework of Wireless Communications", Industrial Electronics, 2009. IECON ’09. 35th Annual Conference of IEEE, November 2009.

[6] Chan-Chao Wei, "Research and Implementation Indoor Localization System Based on Wireless Networks", M.D. Thesis, National United University, Dept. of Electrical Engineering, Taiwan, 2012.

References

[2] Kuang-Yu Li, "Attitude Control Algorithm Design - Application of Complementary Filter", M.D. Thesis, Tamkang University, Dept. of Aerospace Engineering, Taiwan, 2014.