Intelligent control and navigation of an indoor quad-copter

Author

Yiwen Luo ; Meng Joo Er ; Li Ling Yong ; Chiang Ju Chien

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore

fYear

2014

Firstpage

1700

Lastpage

1705

Abstract

This paper documents the development of a quad-copter with indoor control scheme and navigation capability. A stabilized flying control system including traditional PID controller, Raspberry Pi onboard flight computer and electronic speed controller was developed to provide the basic platform for the quad-copter. PID tuning was utilized optimize the performance. In addition, RGB and depth cameras and other sensors were deployed to enable remote semi-autonomous control.

Keywords

aerospace computing; aircraft computers; aircraft control; autonomous aerial vehicles; control engineering computing; helicopters; image colour analysis; image sensors; intelligent robots; mobile robots; path planning; robot vision; stability; telerobotics; three-term control; velocity control; PID controller; PID tuning utilization; RGB cameras; Raspberry Pi onboard flight computer; depth cameras; electronic speed controller; indoor control scheme; indoor quadcopter; intelligent control; navigation capability; remote semiautonomous control; small-scale indoor unmanned aerial vehicle; stabilized flying control system; Accelerometers; Brushless DC motors; Computers; Control systems; Sensors; Indoor UAV; Indoor navigation; Quad-copter;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on

Type

conf

DOI

10.1109/ICARCV.2014.7064572

Filename

7064572