Share
محاكاة وتنفيذ لمسار الطائرة الرباعية == SIMULATION AND IMPLEMENTATION OF QUADROTOR PATH PLANNING
Author name:
باقر ناصر عبد الصمد
Supervisor name:
Ammar A. Aldair
General topic:
Electrical, Electronic and Communications Engineering
Specific topic:
Electrical Engineering
Degree:
Doctorate
University:
University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language:
English
Key words:
- Introduction.
- Brief History of quadrotor.
- Literature Survey.
- Control Design Survey
- Path Planning Algorithm Survey
- Dijkstra’s algorithm
- A-Star (∗)
- Aim of The Thesis.
- Thesis Contribution
- Thesis Structure
- R TWO: QUADROTOR MODELLING AND CONTROL
- Introduction
- Description of Motions of the Quadrotor
- Dynamic Model of The Quadrotor Kinematic l Model.
- Dynamic Model.
- Aerodynamic Effects
- State Space Model.
- The Vector of States X
- State Space Representation
- The Structure of the Proposed Control System
- PID Controller
- Fuzzy Controller
- Particle Swarm Optimization Algorithm
- PSO For Adapting of PID Controller
- Adapting the Parameters of Fuzzy Controller using PSO
- Using Particle Swarm Optimization Algorithm for
- Adapting Fuzzy Controller
- Numerical Simulation and Results
- PID Controller simulation Results
- Fuzzy Logic Controller (FLC) Simulation Results
- Conclusion
- R THREE: QUADROTOR PATH PLANNING
- Path Planning
- Pure Pursuit Algorithm (PPA)
- Look Ahead Distance (LAD)
- Robotic Operating System (ROS)
- ROS Essentials
- 3D Gazebo Simulator (GS)
- Simulation Description Format (SDF) And Unified
- Robotic Description Format (URDF).Hovering test
- Path Planning simulation Results
- Point -Point Path Planning
- Multi Point Path Planning
- Modified Pure Pursuit Algorithm Using State Flow
- Simulation Results of (Path Following Like Obstacle
- Avoidance (PFLOA)
- Conclusion
- FOUR: OBSTACLE AVOIDANCE ALGORITHM
- Introduction
- Vector Field Histogram (VFH)
- Quadrotor Radius(R)
- Safety Distance(D)
- Minimum Turning Radius(S)
- Distance Limits(L)
- Histogram Characteristics
- Simulation Results
- One – Target Obstacle Avoidance
- Multi-Target Obstacle Avoidance
- Maze Obstacle Avoidance
- Comparison between PFLOA with VFH
- Conclusion
- FIVE: DESING AND CONTROL A QUADROTOR
- ATION SYSTEM
- Introduction
- Gripper Application
- Gripper Design Using Gazebo Simulator Simulation Results
- Gripper Test
- Path Following (Quadrotor with Gripper)
- Obstacle Avoidance (Quadrotor with Gripper)
- Conclusion
- R SIX: QUADROTOR DESEIGN AND IMPLEMENTAT
- Introduction
- Frame
- Brushless DC Motors
- Electronic Speed Controller (ESC)
- Flight Controller (FC)
- Propellers
- Battery
- Practical Flight Results
- Return to Lunch (RTL) mode:
- Landing Mode
- Obstacle Avoidance Mode
- Conclusion
- R SEVEN: CONCLUSION AND SUGGESTIONS FOR
- WORKS
- Introduction
- Conclusions
- Suggestion for Future works
First pages:
T105751 - p.pdf
