The objective of this project is to design and implement coordinated estimation and control algorithms for a pair of quadrotor unmanned aerial vehicles (UAVs). These algorithms enable one of the UAVs to observe and reduce navigational uncertainty for the other UAV, which carries a relatively small number of sensors. The sensors installed include a LiDAR depth sensor and a camera. The commercially available 3DR Solo UAV is used as a platform. For each UAV, this platform is modified by attaching a Raspberry Pi embedded flight controller. A socket server is designed to enable communication between UAVs. The LQR and EKF tools from control theory are used to design the desired algorithms. The system is demonstrated via a flight test involving the two UAVs following a straight line trajectory.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Green, Nicholas Edward
• Rockwood, Keith Parrott
• Griffin, Jonathan Charles
• Mastrangelo, Christopher Robert
• Vien, Aaron Michael

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-032317-110639

Advisor

• Cowlagi, Raghvendra V.

Year

• 2017

Date created

• 2017-03-23

Resource type

• Major Qualifying Project

Major

• Aerospace Engineering

Rights statement

• In Copyright