Quadrotor Path Planning,attitude Measurement And Control Method Research

Quadrotor is a kind of typical rotor aircraft that model is strong coupling,nonlinear,multivariable and under-actuated.In recent years,quadrotor has been widely used in military and civilian areas,and the environment has become increasingly complex and diverse,raises greater requirement for quadrotor.This article mainly aims at the path planning problem of quadrotor,attitude information access of quadrotor,and integration problem of hardware and software.Mainly done the following work:First of all,the development history and current research status of unmanned aerial vehicles(UAV)are described,and discuss the development of control method used in the process of review and comparison,and then the UAV flight path planning methods were summarized,and then the open source hardware projects of quadrotor are reviewed;Secondly,the quadrotor flight principle is analyzed,select the coordinate system and the relationship between the coordinate system conversion,and then establish the simplified mathematical model on the basis of stress analysis,to provide conditions for subsequent analysis and simulation work;Then,on the basis of the simplified dynamic mathematical model which established before,trajectory planning methods were investigated,and use DMOC and Dubins as trajectory planning methods and then simulate them in Matlab to confirm.Furthermore,the PID controller and backstepping controller are designed with the double-loop control structure consist of attitude loop and position loop for the mathematical model of the quadrotor,the simulation of the unit step response for the attitude loop and position loop were made,and do experiment to track the helical path dynamically.Finally,a quadrotor peripheral hardware accessories selection was discussed,and then build the entire quadrotor hardware platform,based on the hardware platform built a software platform to handle sensor data and achieve the required function,and study the Kalman filter to deal with the IMU data,a comparison experiment is made to verify the reliability of the algorithm.