Quadcopter Control - Implementation, Cooperation, and Human-vehicle Interaction
In this thesis two cooperative control strategies are designed for a team of two indoor quadrotors and some human-vehicle interaction tasks are developed.
First, the process of assembling a quadrotor from parts is undertaken. Then, a controller for a single quadrotor is designed, and implemented using Labview software. Matlab software is used to generate the desired trajectories. A Labview software module acts as a supervisor, allowing the coordination between the two vehicles. Two types of cooperative control are developed: position-based, and position/velocity-based. Both control strategies allow the quadrotors to follow a reference trajectory while maintaining a specified formation.
Furthermore, some tasks are developed where one quadrotor responds to online stimuli given by a human via an user-friendly interface. The testbed is composed by the projector, twelve infra-red cameras, a wooden structure called Gun, a human user and the quadrotor.
The first task is called Gun for motion in cylindrical coordinates: moving the Gun along x, y, and z axes, and rotating it around z axis, the quadrotor will move accordingly.
The second task is called Gun for motion in spherical coordinates: moving the Gun around x, y, and z axes, and rotating it around y and z axes, the quadrotor will move accordingly.
The third task is called Gun for projection tracking: pointing the Gun to the ground, the controller is able to compute the coordinates of such point projected on the ground. This point will be the reference point for the quadrotor, which will follow it at a given height.
The fourth task is called Gun for trajectory design: differently from the others, this task does not allow to control a quadrotor with the Gun in real time. Such task is composed by two steps: drawing of the trajectory and motion of the quadrotor. So, a human user draws the desired trajectory with the Gun and after a desired time the quadrotor follows such trajectory.
Salvatore Scotto di Clemente and Francesco Sabatino
Thesis KTH - Francesco Sabatino.pdf (pdf 1.8 MB)
Thesis KTH - Salvatore Scotto di Clemente.pdf (pdf 7.4 MB)