This research proposes to adapt the concept of trajectory shaping guidance law on a quadrotor to follow several different predefined, compact paths. Keeping the real world nonlinearities, sensor and process noise in mind, the technique is simulated using MATLAB-Simulink. This guidance concept is implemented on a real, custom built quadrotor for which a new testing platform was developed from the ground up. Also, the results obtained from the trajectory shaping concept are compared to the performance characteristics of another path following concept called differential flatness. In addition to this, root mean square of position error data is used to compare the vehicle convergence to the desired trajectory.
| Identifer | oai:union.ndltd.org:UTAHS/oai:digitalcommons.usu.edu:etd-6035 |
| Date | 01 May 2016 |
| Creators | Mehrok, Parwinder Singh |
| Publisher | DigitalCommons@USU |
| Source Sets | Utah State University |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | All Graduate Theses and Dissertations |
| Rights | Copyright for this work is held by the author. Transmission or reproduction of materials protected by copyright beyond that allowed by fair use requires the written permission of the copyright owners. Works not in the public domain cannot be commercially exploited without permission of the copyright owner. Responsibility for any use rests exclusively with the user. For more information contact digitalcommons@usu.edu. |
Page generated in 0.0017 seconds