AR.Drone, ( ), [1]. [2-4], - [5-8] [9, 10] - . :, [6], - [9], [7], [11, 12]

Transcript

1 56 ARDRONE 639 : +7 (383) : ARDrone Abstract In this paper we discuss a trajector tracing probem of quadrocopter where the trajector is defined as impicit function of coordinates For the estimation of state ector the contro sstem proposed in our preious wor is augmented b the equations based on etended Kaman fiter Simuation and eperimenta resuts with the ARDrone quadrocopter show the effectieness of the proposed contro sstem in a noise enironment - () [] [-4] - [5-8] [9 ] - ( - ) : [6] - [9] [7] [8] [ ] [] - ARDrone Parrot () [3] - ARM9 468 MH DDR 8 MB MH Linu OS

2 ( - ) ARDrone PIC- 4 MH - : - - ARDrone : / / / ARDrone b b b : b < < b / < < / b / < < / b b b [3]: m u () m u m u mg I u I I () I u3 I I I u4 : m g I I I - 57

3 [] - (3) c (4) + (3) (4) ( t) ( t) ( t) ( t) ( t) d S dt d (5) S dt S (6) S S S (3) (4) / / (6) d d d (7) S S S dt dt dt (7) S S S (7) d d d (8) S S S S S S dt dt dt (9) S S S S S S > > > S S S - (5) (9) A () B C 58

4 59 () ) ( ) ( ) ( ) ( S C S B S A () A B B A () () () (3) C g m u m u m u (3) - u (4) C g m u (4) (3) (5) 3 C g N N g+c N N - b b b (6) 3 b (3) (7) + + (6)

5 + (8) ARDrone - [3] - () [] u - u 4 : T (9) T T d d d T T T T d - (9) () - - (9) () [] 3 () (9) [5] () (9) () X f ( X U ) W Z h( X ) V W Q V R Z X () (9) T () X [ ] 5

6 () () ( Xˆ U ) [6] () X f ( Xˆ U ) F [ X Xˆ ] W ( ) Z h( Xˆ ) H [ X Xˆ ] V ( ) f h (3) F X Xˆ H X Xˆ X X (4) Xˆ f ( Xˆ U ) T (5) P F P F Q P H (6) K T H P H R (7) Xˆ Xˆ K ( Z h ( Xˆ )) (8) P ( I K H ) P T 4 4 X T (9) Z [ ] () u m [7] 7 6 ARDrone 5

7 5 35 ARDrone : (3) ( ) ( ) (3) 4 [3] X T d (9) () (9) 5 5 t θ θ rea mode rea mode time time a : rea mode (9): T d 35 t () T 7 d 35 t () 43 (9) ARDrone n n n (3) f ( ) ( ) ( ) r 5

8 n r 3 () (9) T d Y 4 35 cam mode 3 ef X a m time s Y 4 35 cam mode 3 ef X m time s 3 (3) 5 n r 3 ( ) 5 n r 3 ( ) ( ): cam mode ef ( ) - () ( ) ( ) 53

9 5 [] Pines D J Bohorque F Chaenges facing future micro-air-ehice deeopment // Journa of Aircraft 6 Vo 43 no Pp 9 35 [] Bouabdaah Samir Design and contro of an indoor micro quadrotor // In Proc of Int Conf on Robotics and Automation 4 [3] P-J Bristeau F Caou D Vissiere N Petit The naigation and contro technoog inside the ardrone micro ua // 8th IFAC Word Congress Miano Ita: Pp [4] M Cuter N Kema Ure B Michi-ni J P How Comparison of fied and ariabe pitch actuators for agie quadrotors // AIAA Guidance Naigation and Contro Conference (GNC) Portand OR: August (AIAA--646) [5] Gabrie M Hoffmann Hao-miao Huang Steen L Was Er Caire J Tomin Quadrotor heicopter fight dnamics and contro: Theor and eperiment // In Proc of the AIAA Guidance Naigation and Contro Conference 7 [6] Beji Lotfi Abichou Aga Trajector generation and tracing of a mini-rotorcraft // Proceedings of the 5 IEEE Internationa Conference on Robotics and Automation ICRA 5 Apri 8-5 Barceona Spain IEEE 5 Pp [7] // - No [8] Bouabdaah Samir Bacstepping and siding-mode techniques appied to an indoor micro quadrotor // In Proceedings of IEEE Int Conf on Robotics and Automation 5 Pp 47 5 [9] Meinger D Kumar V Minimum snap trajector generation and contro for quadrotors // Proceedings of the IEEE Internationa Conference on Robotics and Automation (ICRA) Ma [] Enge J Sturm J Cremers D Accurate figure fing with a quadrocopter ug onboard isua and inertia seng // Proc of the Worshop on Visua Contro of Mobie Robots (ViCoMoR) at the IEEE/RJS Internationa Conference on Inteigent Robot Sstems (IROS) Oct3 [] - // No 5 3 [] / - // No [3] J Kim M-S Kang S Par Accurate modeing and robust hoering contro for a quad rotor to aircraft // J Inte Robotics Sst Vo 57 no -4 Pp 9 6 [4] Bouabdaah S Design and contro of quadrotors with appication to autonomous fing: PhD thesis / Ecoe Potechnique F derae Lausanne 7 [5] Kaman R E A new approach to inear fitering and prediction probems 96 Vo 8 Pp35 45 [6] Oieira V M Lages W F Mobie robot contro oer the internet with dea compensation // th IFAC Smposium on Information Contro Probems in Manufacturing Saador Bahia: 4 [7] : / // X (- ) : 6 54