可變螺距四旋翼的導引與控制 - 在移動平台上自動起降

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可變螺距四旋翼的導引與控制 - 在移動平台上自動起降

The Guidance and Control of Variable-pitch Quadrotors - Autonomous Landing and Take-off on a Moving Vehicle

陸毅誠 , Ph.D　　Advisor：謝成　　

英文

自動起降系統；可變螺距四旋翼；移動平台；影像定位；控制分配； Automatic take-off and landing ； variable-pitch quadrotor ； moving vehicle ； visual positioning ； control allocation

Abstract │ Reference (29) │ Altmetrics

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The goal of this dissertation is to construct a system that can use at outdoors and land quadrotors on a narrow (1.2 x 1.2 m) and fast moving (3 m/s) vehicle. In this dissertation, we propose solutions for two key issues related to this research
1. Positioning accuracy improvement
We propose a visual positioning system to improve the accuracy of the original positioning system. Unlike most studies that place the system on an unmanned aerial vehicle (UAV), we place the system on a carrier vehicle. The advantage of this architecture is that it significantly reduces the equipment required for the unmanned aerial vehicles, thus it is suitable for UAVs of all sizes. In order to improve the success rate of recognition in cloudy or strong sunlight, we propose Adaptive Background Subtraction and Adaptive Background Threshold algorithms. The image moment of the extracted pattern is then compared to that of the target pattern to confirm the target. Then we calculate the relative position information according to the lens parameters. Benefit from the combination of GPS and inertial measurements is that the system can provide continuous position information when the visual positioning system is temporary unavailable. 
2. Quadrotor robustness improvement
A variable-pitch quadrotor is proposed to replace the traditional quadrotor as a carrier-based aircraft. Because of its high dynamic bandwidth and more complete control of the output, it is more suitable for operation in harsh environments. However, the variable-pitch quadrotor is completely different from the general quadrotor in the yaw equation; therefore, the traditional control allocation method cannot be applied to the variable-pitch quadrotor. In this paper, we analyze the force and moment equations under various conditions, and derive the control allocation method for the variable-pitch quadrotor.
The design of the automatic landing and take-off control system is addressed in this dissertation. Various experiments are conducted to simulate the dynamic motions of the vessel, including up and down motions and moving forward motion. Finally, the quadrotor successfully lands automatically on a moving rover at the speed of 3 m/s in outdoor environment.

Reference ( 29 ) 〈TOP〉

Bouabdallah, S., Noth, A., and Siegwart, R. "PID vs LQ control techniques applied to an indoor micro quadrotor," Proceedings of IEEE/RSJ International Conference on Robotics and Automation, Vol. 3, pp. 2451-2456 (2004).
連結：
Castillo, P., Dzul, A., and Lozano, R. "Real-time stabilization and tracking of a four-rotor mini rotorcraft," IEEE Transactions on Control Systems Technology, Vol. 12, No. 4, pp. 510-516 (2004).
連結：
Cutler, M., and How, J. P. "Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors," AIAA Guidance, Navigation, and Control Conference. AIAA, Minneapolis, Minnesota (2012).
連結：
Cutler, M., Ure, N. K., Michini, B., and How, J. P. "Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors," AIAA Guidance, Navigation, and Control Conference. AIAA, Portland, Oregon (2011).
連結：
JeongWoon, K., et al. "Outdoor autonomous landing on a moving platform for quadrotors using an omnidirectional camera". in Unmanned Aircraft Systems (ICUAS), International Conference on. (2014).
連結：

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