Modelling and Control of the Crazyflie Quadrotor for Aggressive and Autonomous Flight by Optical Flow Driven State Estimation
(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:
http://lup.lub.lu.se/student-papers/record/8905295
- author
- Greiff, Marcus
- supervisor
- organization
- year
- 2017
- 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}},
}