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Auteur Abderrahmane Djouadi
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| Titre : | Design, Implementation and Analysis of missions for Autonomous Quadcopters | | Type de document : | texte manuscrit | | Auteurs : | Abderrahmane Djouadi, Auteur ; Aissa Benziane, Auteur ; Khalil Benmouiza, Directeur de thèse | | Editeur : | Laghouat : Université Amar Telidji - Département d'électrotechnique | | Année de publication : | 2022 | | Importance : | 67p. | | Note générale : | Option : Automatic and systems | | Langues : | Anglais | | Résumé : | Résumé
Quadcopters are inexpensive and agile aerial robotic platforms. Several applications are
possible with these robots such as mine exploration or reconnaissance and rescue operations.
These missions require navigating cluttered and unpredictable environments. The vehicle used
must be able to quickly avoid obstacles while traveling at high speed. The quadcopter being
under-powered is limited in its aggressiveness since it must tilt before accelerating. In addition,
the conventional controllers used do not predict the behavior that the vehicle will have during the
trajectory using its dynamics, which prevents it from diligently planning complex maneuvers. In
this context, the main objective of this dissertation is to overcome these two limitations by
developing a quadcopter capable of tilting its motors to accelerate faster and using a PID
controller to complete its mission. The mathematical modeling as well as step by step realisation is
viewed. In addition, a mission control and analysis using the PIXHAWK controller is also
achieved. | | note de thèses : | memoire de master |
Design, Implementation and Analysis of missions for Autonomous Quadcopters [texte manuscrit] / Abderrahmane Djouadi, Auteur ; Aissa Benziane, Auteur ; Khalil Benmouiza, Directeur de thèse . - Laghouat : Université Amar Telidji - Département d'électrotechnique, 2022 . - 67p. Option : Automatic and systems Langues : Anglais | Résumé : | Résumé
Quadcopters are inexpensive and agile aerial robotic platforms. Several applications are
possible with these robots such as mine exploration or reconnaissance and rescue operations.
These missions require navigating cluttered and unpredictable environments. The vehicle used
must be able to quickly avoid obstacles while traveling at high speed. The quadcopter being
under-powered is limited in its aggressiveness since it must tilt before accelerating. In addition,
the conventional controllers used do not predict the behavior that the vehicle will have during the
trajectory using its dynamics, which prevents it from diligently planning complex maneuvers. In
this context, the main objective of this dissertation is to overcome these two limitations by
developing a quadcopter capable of tilting its motors to accelerate faster and using a PID
controller to complete its mission. The mathematical modeling as well as step by step realisation is
viewed. In addition, a mission control and analysis using the PIXHAWK controller is also
achieved. | | note de thèses : | memoire de master |
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