Coordinated Quadrotor Unmanned Aerial Vehicles
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open in viewerThe 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
- Publisher
- Identifier
- E-project-032317-110639
- Advisor
- Year
- 2017
- Date created
- 2017-03-23
- Resource type
- Major
- Rights statement
Relations
- In Collection:
Items
Items
Thumbnail | Title | Visibility | Embargo Release Date | Actions |
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RVC_1701_REPORT_FINAL.pdf | Public | Download |
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