Nonlinear Controller of Quadcopters for Agricultural Monitoring

被引：16

作者：

Andaluz, Victor H. ^{[1
,2
]}

Lopez, Edison ^{[2
]}

Manobanda, David ^{[2
]}

Guamushig, Franklin ^{[2
]}

Chicaiza, Fernando ^{[1
]}

Sanchez, Jorge S. ^{[1
]}

Rivas, David ^{[1
]}

Perez, Fabricio ^{[1
]}

Sanchez, Carlos ^{[2
]}

Morales, Vicente ^{[2
]}

机构：

[1] Univ Fuerzas Armadas ESPE, Sangolqui, Ecuador

[2] Univ Tecn Ambato, Ambato, Ecuador

来源：

ADVANCES IN VISUAL COMPUTING, PT I (ISVC 2015) | 2015年 / 9474卷

关键词：

Unified motion control; Non-linear systems; Quadcopters; Agriculture monitoring;

D O I：

10.1007/978-3-319-27857-5_43

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This work presents the construction and control of an autonomous quadcopter for applications of agriculture monitoring. Mainly the navigation system is based on a Field Programmable Gate Array, FPGA, Stabilization Target and a Global Positioning System, GPS, to solve different motion problems of a mobile robot. Also, this paper shows the development of a Human Machine Interface, HMI, between the ground station and the quadcopter. The HMI allows interaction both for simulation and/or experimentally of agricultural monitoring applications through control strategies tele-operated and autonomous flight. Finally, the performance of the proposed controller is shown through real experiments.

引用

页码：476 / 487

页数：12

共 16 条

[1]

Bender P., 2014, P 12 ACM C EMB NETW, P332

[2]

Biao Wang, 2010, 2010 IEEE Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM 2010), P70, DOI 10.1109/ICCIS.2010.5518579

[3]

Brandao A. S., 2011, 2011 9th IEEE International Conference on Control and Automation (ICCA 2011), P434, DOI 10.1109/ICCA.2011.6138018

[4]

Brandao A. S., 2013, P IEEE INT C MECH IE

[5] An Analytical Approach to Avoid Obstacles in Mobile Robot Navigation [J].

Brandao, Alexandre Santos ;

Sarcinelli-Filho, Mario ;

Carelli, Ricardo .

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10

[6] Design and implementation of a robust and nonlinear flight control system for an unmanned helicopter [J].

Cai, Guowei ;

Chen, Ben M. ;

Dong, Xiangxu ;

Lee, Tong H. .

MECHATRONICS, 2011, 21 (05) :803-820

[7]

Conte G., 2004, IFAC S INT AUT VEH L

[8] Unmanned air/ground vehicles heterogeneous cooperative techniques: Current status and prospects [J].

Duan HaiBin ;

Liu SenQi .

SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2010, 53 (05) :1349-1355

[9]

Enderle B., 2012, AIAA

[10]

Kelly R., 2003, CONTROL MOVIMIENTO R, P344

← 1 2 →