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A Simple Approach to Quadrocopter Formation Flying Test Setup for Education and Development

Please always quote using this URN: urn:nbn:de:bvb:20-opus-114495
  • A simple test setup has been developed at Institute of Aerospace Information Technology, University of Würzburg, Germany to realize basic functionalities for formation flight of quadrocopters. The test environment is planned to be utilized for developing and validating the algorithms for formation flying capability in real environment as well as for education purpose. An already existing test bed for single quadrocopter was extended with necessary inter-communication and distributed control mechanism to test the algorithms for formation flightsA simple test setup has been developed at Institute of Aerospace Information Technology, University of Würzburg, Germany to realize basic functionalities for formation flight of quadrocopters. The test environment is planned to be utilized for developing and validating the algorithms for formation flying capability in real environment as well as for education purpose. An already existing test bed for single quadrocopter was extended with necessary inter-communication and distributed control mechanism to test the algorithms for formation flights in 2 degrees of freedom (roll / pitch). This study encompasses the domain of communication, control engineering and embedded systems programming. Bluetooth protocol has been used for inter-communication between two quadrocopters. A simple approach of PID control in combination with Kalman filter has been exploited. MATLAB Instrument Control Toolbox has been used for data display, plotting and analysis. Plots can be drawn in real-time and received information can also be stored in the form of files for later use and analysis. The test setup has been developed indigenously and at considerably low cost. Emphasis has been placed on simplicity to facilitate students learning process. Several lessons have been learnt during the course of development of this setup. Proposed setup is quite flexible that can be modified as per changing requirements.show moreshow less

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Metadaten
Author: Qasim Ali, Sergio Montenegro
URN:urn:nbn:de:bvb:20-opus-114495
Document Type:Conference Proceeding
Faculties:Fakultät für Mathematik und Informatik / Institut für Informatik
Language:English
Parent Title (English):INTED2015 Proceedings
ISSN:2340-1079
Year of Completion:2015
Publisher:International Academy of Technology, Education and Development (IATED)
ISBN:978-84-606-5763-7
Source:INTED2015 Proceedings: 9th International Technology, Education and Development Conference Madrid, Spain. 2-4 March, 2015., S. 2776 - 2784, ISBN 978-84-606-5763-7.
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
GND Keyword:Flugkörper; Quadrocopter
Tag:Design and Development; Formation Flight; Instrument Control Toolbox; Quadrocopter; Unmanned Aerial Vehicle
CCS-Classification:B. Hardware
D. Software
J. Computer Applications
Release Date:2015/06/18
First Page:2776
Last Page:2784
Licence (German):License LogoDeutsches Urheberrecht