Research On Autonomous Flight Control Of Quadrotor In Indoor Environment

Based on the development of sensor technology,microelectronic technology,filtering theory and the wide application of automatic control technology on aircraft,the research of the quadrotor has been promoted rapidly.At present,many mature applications have been used in outdoor environment.In view of the autonomous flight control problem in the indoor environment of the quadrotor,lots of researchers are studying it and have made some achievements.In this paper,focusing on the autonomous flight control demand of the quadrotor indoors,the whole system is divided into two subsystems: the flight control system and the indoor autonomous navigation system.I have designed the overall system scheme of the quadrotor based on two-dimensional laser radar,completed the design of hardware and software of the system,and finally realized the functions of the quadrotor in the indoor environment such as attitude control,position control,autonomous navigation exploration and so on.The flight control system is the foundation for the quadrotor to fly steadily.The flight control system,in this paper,mainly includes two parts: the attitude controller and the position controller,all of which are designed with the cascade PID method.The first stage of the attitude controller is the three-axis angle controller and the second stage is the threeaxis angular velocity controller.The first stage of the position controller is the threedimensional position controller and the second stage is the three-dimensional velocity controller.The indoor autonomous navigation system is the core of the indoor autonomous flight of the quadrotor.In this paper,a scheme of independent exploration for the unknown environment based on the two-dimensional laser radar is designed.In this scheme,the Hector Mapping algorithm is used to build a two-dimensional grid map of the indoor environment.With the map,the two-dimensional point cloud data got from radar and the pose of the previous frame,the least squares problem is proposed to estimate the current pose of the quadrotor.The strategy of self determination of the target point is also designed to make possible the autonomous navigation in the indoor unknown environment.At the same time,with regard to the practical flight situations of the quadrotor,an optimized A* path planning algorithm is used to plan a flight path that is safe and reliable.Finally,in this paper,a series of experiments for the overall system scheme of the quadrotor are designed.The experiments include the flight control system performance experiment and the indoor autonomous navigation system experiment.The stability and effectiveness of the autonomous flight control system in the indoor environment are already verified.At the same time,the work summary and future research prospect are carried out.