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Theses

Autonomous take-off and landing for a fixed wing UAV

Abstract : This work studies some of the most relevant problems in the direction of navigation and control presented in a particular class of mini‐aircraft. One of the main objectives is to build a lightweight and easy to deploy vehicle in a short period of time, an unmanned aerial vehicle capable of following a complete mission from take‐o⁄ to the following waypoints and complete the mission with an autonomous landing within a delimitated area using a graphical interface in a computer. The Trajectory Generation It is the part that tells the drone where it must travel and are generated by an algorithm built into the drone. The classic result of Dubins is used as a basis for the trajectory generation in 2D and we have extended it to the 3D trajectory generation. A path following strategy developed using the Lyapunov approach is presented to pilot a fixed wing drone across the desired path. The key concept behind the tracking controller is the reduction of the distance between the center of mass of the aircraft p and the point q on the path to zero, as well as the angle between the velocity vector and the vector tangent to the path. In order to test the techniques developed during the thesis a customized C # .Net application was developed called MAV3DSim (Multi‐Aerial Vehicle 3D Simulator). The MAV3DSim allows a read / write operation from / to the simulation engine from which we could receive all emulated sensor information and sent to the simulator. The MAV3DSim consists of three main elements, the simulation engine, the computation of the control law and the visualization interface. The simulation engine is in charge of the numeric integration of the dynamic equations of the vehicle, we can choose between a quadrotor and a xed wing drone for use in simulation. The visualization interface resembles a ground station type of application, where all variables of the vehicle s state vector can be represented on the same screen. The experimental platform functions as a test bed for the control law prototyping. The platform consists of a xed wing aircraft with a PX4 which has the autopilot function as well as a Raspberry PI mini‐computer which to the implementation of the generation and trajectory tracking. The complete system is capable of performing an autonomous take‐o⁄and landing, through waypoints. This is accomplished by using each of the strategies developed during the thesis. We have a strategy for take‐o⁄ and landing, which is generated by the navigationon part that is the trajectory generator. Once we have generated the path, it is used by the trajectory tracking strategy and withthat we have landing and take‐o⁄ autonomously.
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  • HAL Id : tel-02083757, version 1

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Israel Lugo Cárdenas. Autonomous take-off and landing for a fixed wing UAV. Automatic. Université de Technologie de Compiègne, 2017. English. ⟨NNT : 2017COMP2364⟩. ⟨tel-02083757⟩

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