Introduction of A Guidance Algorithm to Control A Quadrotor Approaching Time, Location, And Speed for Landing on A Moving Platform with Hardware in the Loop Simulation

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Tavalla, Ali | 2022

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 55785 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Nobahari, Hadi
Abstract:
In this thesis a guidance algorithm is developed to control middle phase landing of a quadrotor on a moving platform. Middle phase guidance is consisted of approaching time, speed, and angle constraints. In the first step proportional guidance algorithms was studied. Then a six-freedom model of a quadrotor dynamic was developed. At the next step an appropriate guidance algorithm was developed to control a quadrotor for the mentioned constraints. Finally, the parameters of the algorithm were optimized by numerical methods. Monte-Carlo method used to validate this method. For this reason, 850 numerical simulations with random initial and final conditions were performed and the statistics results is reported. In the last step a hardware in the loop test (HIL) was performed. In this test controller was deployed on Pixhawk 2.1 Autopilot and transfer data to a real time model of the quadrotor in PC. The result of this test is reported
Keywords:
Automatic Landing ; proportional Guidance ; Hardware in the Loop ; Time of Flight ; Quadrotor Guidance ; Middle Phase Guidance ; Impact Time ; Impact Angle