Quadrotor control: implementation,cooperation and human-vehicleinteraction
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
In this thesis two cooperative control strategies are designed for a team of two indoorquadrotors and some human-vehicle interaction tasks are developed. First, theprocess of assembling a quadrotor from parts is undertaken. Then, a controller for asingle quadrotor is designed, and implemented using LabView software. Matlab softwareis used to generate the desired trajectories. A LabView software module actsas a supervisor, allowing the coordination between the two vehicles. Two types ofcooperative control are developed: position-based, and position/velocity-based. Bothcontrol strategies allow the quadrotors to follow a reference trajectory while maintaininga specified formation. Furthermore, some tasks are developed where one quadrotorresponds to online stimuli given by a human via a user-friendly interface.
Place, publisher, year, edition, pages
2015. , 58 p.
EES Examensarbete / Master Thesis
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-175379OAI: oai:DiVA.org:kth-175379DiVA: diva2:860645
Johansson, Karl Henrik, Professor