Multi-rotor control and autonomous mission through simulation

• Main Author: Sim, Huan Cong
• Other Authors: Wang Youyi
• Format: Final Year Project
• Language: English
• Published: 2019
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: http://hdl.handle.net/10356/77898
• Institution: Nanyang Technological University

In the field of robotics, particularly in aerial robotics, multi-rotors are experiencing expeditious growth in popularity due to the wide-scaled application of them. Despite it being an underactuated system, there is ultimately an increasing attention being paid towards this mini flying machine. Thus, multi-rotors are classified as a standard platform in robotics research throughout the world. Multi-rotors are classified under Micro Aerial Vehicles (MAV) and thus the terms are used interchangeably in this paper. Firstly. this paper provides information of the dynamics of a typical multi-rotor and basic flight theory for the multi-rotors. Subsequently, control architecture of a typical flight controllers is explained, which consists of position control, attitude control etc. Furthermore, two control algorithms, model predictive control (MPC) and proportional-integral-derivative (PID) will be studied. Next, simulation details regarding multi-rotor using Robot Operating System (ROS) and Gazebo 3D simulator will be explored. In addition, realistic outdoor environment is constructed under Gazebo simulator. Lastly, creating a ROS node functioning as a waypoint publisher to the multi-rotor and using different controllers to analyse the multi-rotor performance will be studied.