Path Planning And Controller Design For Unmanned Quadrotor

In recent years,the theoretical researches on control algorithm and path planning algorithm of UAV have been relatively mature,and the combination of theory and application has been tighter.Because multi-rotor can take off and land vertically,it is favoured by more researchers.Basing on indoor location system,this thesis makes an intensive study of path planning and controlling of quad-rotor UAV by theoretical research,simulation and physical experiment.In the introduction of this thesis,we establish research significance of this thesis through studying the history and current situation of UAV research both at home and abroad.Further more,we compare and analyze the current control algorithm and path planning algorithm to prepare for the subsequent study.The second chapter of the thesis mainly studies the dynamic and kinematic characteristics of the quad-rotor by building its model.We simplify the quad-rotor’s model by linearizing the UAV nonlinear model.Analyzing the relations among control variables and state variables,we make a control scheme preliminarily.In the third chapter,based on UAV modeling in the second chapter,taking the practical quad-rotor entity and flight environment into consideration,we decide attitude loop and position loop controller of quad-rotor.Because the stability of the angular speed loop is the premise of the overall stability of the controller,this thesis places importance on the research on attitude inner loop controller’s,that is,the angular speed loop controller’s stability and convergence.At the same time,the parameters of the attitude cascade controller and the position cascade controller are respectively adjusted reasonably.The response curve is simulated by MATLAB,and in this way,quality of controller can be analyzed.UAV is severely disturbed by wind in its flying process,so in this thesis,the anti-disturbance capability of controller has also been researched by adding the constant value disturbance.In order to verify the effectiveness and stability of the control algorithm,the fourth chapter has given a complete set of control scheme,which is combined with quad-rotor entity and based on the indoor optical positioning system.Combining with positioning system and airborne control board,taking problems like data transmission delay and packet loss into account,we do flight experiments for several times.By analyzing experimental data,we improve our control scheme to realize quad-rotor’s functions of autonomous takeoff and landing,hovering and tracking.On the basis of stable control of unmanned quad-rotor,this thesis makes an intensive study on path planning.Path planning is also one of the key techniques of UAV’s autonomous flight.Combing with the existing planning algorithms,we make comparison and analysis.In the fifth chapter,it is mainly the intensive discussion on particle swarm optimization algorithm and rapidly-exploring random tree path planning algorithm.They are respectively used in offline path planning and online path planning.The second section of the fifth chapter makes a research on the PSO-based path planning algorithm.We establish the indoor flight environment model,determine cost function and optimization function by combining with the positioning system and indoor flight restrictions,and generate path.The third section of the fifth chapter makes a study on the RRT-based path planning algorithm.It assumes the task of pursuing the escape,determines planning scheme in combination with actual UAV flight characteristics,and makes simulation.Finally,there are summary,analysis,and improvement of planning scheme.In order to verify the efficiency and reliability of the path planning algorithm in the fifth chapter,the above-mentioned path planning algorithm is realized mainly by the combination with indoor positioning system and the improvement of planning scheme in the sixth chapter.