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Modelling and Control of the Crazyflie Quadrotor for Aggressive and Autonomous Flight by Optical Flow Driven State Estimation

Greiff, Marcus (2017)
Department of Automatic Control
Abstract
The master thesis seeks to develop a control system for the Crazyflie 2.0 unmanned aerial vehicle to enable aggressive and autonomous flight. For this purpose, different rigid-body models are considered, differing primarily in their parametrisation of rotation. The property of differential flatness is explored and several means of parametrising trajectories in at output space are implemented. A new method of rotor control with parameter estimation is developed and geometric controllers are implemented for rigid-body control. Finally, state estimation is accomplished through a scalar-update extended Kalman filter, where information from the internal measurement unit is fused with positional information from camera systems, ultra-wide band... (More)
The master thesis seeks to develop a control system for the Crazyflie 2.0 unmanned aerial vehicle to enable aggressive and autonomous flight. For this purpose, different rigid-body models are considered, differing primarily in their parametrisation of rotation. The property of differential flatness is explored and several means of parametrising trajectories in at output space are implemented. A new method of rotor control with parameter estimation is developed and geometric controllers are implemented for rigid-body control. Finally, state estimation is accomplished through a scalar-update extended Kalman filter, where information from the internal measurement unit is fused with positional information from camera systems, ultra-wide band systems, optical flow measurements and laser ranging measurements. Capable of sustaining flight with any combination of the previously mentioned sensors, the real-time implementation is showcased using polynomial motion-planning to avoid known obstacles. (Less)
Please use this url to cite or link to this publication:
author
Greiff, Marcus
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
report number
TFRT-6026
ISSN
0280-5316
language
English
id
8905295
date added to LUP
2017-05-24 11:56:43
date last changed
2017-05-24 11:56:43
@misc{8905295,
  abstract     = {The master thesis seeks to develop a control system for the Crazyflie 2.0 unmanned aerial vehicle to enable aggressive and autonomous flight. For this purpose, different rigid-body models are considered, differing primarily in their parametrisation of rotation. The property of differential flatness is explored and several means of parametrising trajectories in at output space are implemented. A new method of rotor control with parameter estimation is developed and geometric controllers are implemented for rigid-body control. Finally, state estimation is accomplished through a scalar-update extended Kalman filter, where information from the internal measurement unit is fused with positional information from camera systems, ultra-wide band systems, optical flow measurements and laser ranging measurements. Capable of sustaining flight with any combination of the previously mentioned sensors, the real-time implementation is showcased using polynomial motion-planning to avoid known obstacles.},
  author       = {Greiff, Marcus},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  title        = {Modelling and Control of the Crazyflie Quadrotor for Aggressive and Autonomous Flight by Optical Flow Driven State Estimation},
  year         = {2017},
}