Accurate Modeling and Robust Hovering Control for a Quadrotor VTOL Aircraft Along with image processing Techniques

required for efficient maneuvers

Sarvraj singh,Lagan Batra,Sharod Dey,Kapil Thakur,Harshit Malhotra JUET,guna

Abstract: UAV(unmanned aerial vehicle) have been developed for quick detection and observation of the circumstances under calamity or regions where human interference can prove costly and collateral damage. The UAV is equipped with four propellersdriven by each electric motor, an embedded controller, an Inertial Navigation System(INS) using three rate gyros and accelerometers, a CCD (Charge Coupled Device)camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. Adisturbance observer (DOB) based controller using the derived dynamic models isalso proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurately derived dynamics. 1 Introduction: Micro UAVs are classified into two categories, fixed and rotary wing types. The rotary wing type UAVs are more advantageous than the fixed wing type ones in the sense of VTOL(Vertical Take-off and Landing), omni-directional flying, and hovering performances. Rotary wing type UAVs are classified into quad-rotor type (QRT), co-axial helicopter, and helicopter etc. QRT UAVs have the simplest mechanical structure among them, and that is the reason why a QRT UAV is considered in this study as a flying platform. Autonomous QRT UAVs equipped with high technology sensors are also being developed for special purposes, and researches for analysis and control of the flying robots are being done vigorously. Dynamics Of Motion: Figure 1 shows coordinate systems of QRT UAVs. The motion of QRT UAVs is induced by the combination of quad rotors as shown in Fig. 2. The state vectors for the QRT UAVs are described as following:

Here the theta,phi,and zi are referred to the coordinates mentioned below V1 and v2 matrices give the respective translational velocities and angular velocities in x,y,z basis.

where the position and orientation of a QRT UAV, , are described relative to the inertial reference frame, while the linear and angular velocities of a QRT UAVs, ,are expressed in the body-fixed frame. x, y, and z mean the linear positions of a QRTUAV with respect to inertial reference frame. , , and represent the roll, pitch,and yaw angles of the QRT UAV in the inertial reference frame.

In above equations, c() and s() denote cos() and sin(), respectively. Notice that J 2(2) is undefined for a pitch angle of = 90. However, in the QRT UAVs, the system goes into uncontrollable states as approaching the pitch angle. Hence, in this paper, we do not consider the pitch angle. In QRT UAVs, the sensor information and actuator forces are exerted on a body-fixed frame, so it is more natural to write up the dynamics using body-fixed velocities. To supplement this, we used quasiLagrange approach.

QUASI LANGRANGE APPROACH

where m and I are mass and system inertia, respectively. Normally, we design the QRT UAV body as axisymmetric, so the inertia is Ixx = Iyy

Where l is the distance between motor and center of mass. Equations of Motion Of QRT UAV:

the hovering control with 0 and 0 can make the dynamics much simpler form and it is easy to design the controller.

when 0 and 0.

Our Black Box:

Description Value: Weight 2.2 kg Diameter 573.6 mm Height 170 mm Distance between the motor and the C.G 172.5 mm Propeller 9__7__ Moment of inertia in x-axis, Ixx 16.76337 gm2 Moment of inertia in y-axis, Iyy 16.76337 gm2 Moment of inertia in z-axis, Izz 23.1447 gm2

Integration of Path/Maneuver Planning in Complex Environments for Agile Maneuvering UCAVs

In this work, we consider the problem of generating agile maneuver profiles for Unmanned Combat Aerial Vehicles in 3D Complex environments. This work suggests a two layer feasible trajectory/maneuver generation system. Integrated Path planning (considers geometrical, velocity and acceleration constraints) and maneuver generation (considers saturation envelope and attitude continuity constraints) system enables each layer to solve its own reduced order dimensional feasibility problem, thus simplifies the problem and improves the real time implement ability. In Trajectory Planning layer, to solve the time depended path planning problem of an unmanned combat aerial vehicles, we suggest a two step planner. In the first step, the planner explores the environment through a randomized reachability tree search using an approximate line segment model. The resulting connecting path is converted into flight way points through a line-of-sight segmentation. In the second step, every consecutive way points are connected with B-Spline curves and these curves are repaired probabilistically to obtain a geometrically and dynamically feasible path. Although many kinodynamic motion planning methods that declares generating dynamically feasible path have been developed, they rarely can be used in practiceespecially for the aerial vehicles because of computational complexities. The most important advantage of combination of path and maneuver planning that proposed in this work is related with generation of feasible agile flight trajectories. When the path planning problem is complicated with dynamic constraints on vehicle along with geometrical constraints, problem becomes challenging due to complexity of dimension. Therefore one cannot simply generate a trajectory that is dynamically feasible (feasible in the sense that it would be trackable by a control system in the flight envelope and actuator limits), relying on the path planning. This is where the maneuver planning comes in; by taking the advantage of working with a pre-defined dynamically feasible flight trajectory given by trajectory planner it can extract angular velocity and angular attack information needed to create a maneuver profile without concerning with the trajectory generation and obstacle avoidance. if the flight trajectory is generated withoutchecking the velocity and acceleration bounds, maneuver planning layer will havehard time searching for angular velocities and angle of attack history that arein the feasible set.

Dynamically feasible path planning algorithms:

Roadmap-based planners, like well-known Probabilistic Road Mapping (PRM) method as mentioned in [18], are typically used as multi-query planners (i.e. simultaneous search of the environment from different points) that connect these multiple queries using a local planning algorithm. PRM planners converge quickly toward a solution path, if one exists, as the number of milestones increases. This convergence is much slower when the paths must go through narrow passages. For complex environments, some extended algorithms are suggested for PRM like planners . Tree-based planners build a new roadmap for each query and the newly produced samples are connected to the samples that are already exists in the tree . Rapidly-Exploring Random Tree (RRT) is the most popular representative of tree-based planners that is an exploration algorithm for quickly searching high-dimensional spaces that have both global and differential constraints. From a deterministic perspective, B-Spline curves have been used in many dynamic path planning and control problem implementations. dynamically feasible path is searched, everyway-point connected with forth-order B-Spline curve and collision and dynamic feasibility cases are checked on curve. If the generated curve is not feasible, probabilistic repairing is achieved by randomized waypoint expansion on the connecting line path and the unit flight time is expanded to limit the accelerations within controllable regime. B-Spline curves have local support property, these repairing processes can be made on local path segments of interest. For finding connectivity path, RRT algorithm is used because of its rapid spreading ability. RRT is a considered as being an efficient algorithm to search even high dimensional spaces.

RRT ALGORITHM:

connectivity path using RRT algorithm

Second Step: Dynamically Feasible B-Spline Algorithm:

In the first step, generated connectivity path with straight line segments result in a simple and implementable piecewise flight plan. However, this flight plan is not a fast , agile and continuous plan.

The continuous plan obtained can be reconstructed into k order of primes.

Simulation Results:

As the simulation ends we get the most appropriate path for an airplane to reach its destination.

Conclusion:
Apart from the monotonous radio frequency usage in remote control plane , we can be immensely be benefitted by the algorithms defined in this paper. And apart from using a remote control plane just for surveillance and hobby it can also be used as an effective multi-purpose vehicle in air .

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