Print Email Facebook Twitter Design and Implementation of a Development Platform for Indoor Quadrotor Flight Control Title Design and Implementation of a Development Platform for Indoor Quadrotor Flight Control Author Navia Vela, Libardo (TU Delft Mechanical, Maritime and Materials Engineering; TU Delft Delft Center for Systems and Control) Contributor Keviczky, T. (mentor) Zheng, Z. (mentor) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Systems and Control Date 2018-09-27 Abstract Research and development of flight control of quadrotor Unmanned Aerial Vehicles (UAVs) have gained popularity during the past few years due to their deployment flexibility and wide range of applications: agriculture, entertainment, cinematography, package delivery, search and rescue, etc. This thesis project follows up this interest aiming to build a real-time development platform for experimentation and test of indoor flight controllers in the Networked Embedded Robotics in Delft laboratory. For this goal, we employ a Matrice 100 quadrotor from DJI alongside its ROS C++ Software Development Kit (SDK), develop a system identification routine to model its autopilot, vertical and horizontal displacement, and based on the attained results, we design and implement a control topology for real-time position control of the UAV inside the laboratory by means of a Model Predictive Controller (MPC) and a Linear-Quadratic Regulator. Finally, we enunciate and discuss potential applications in which this development platform can be used. Subject UAVMPCOptimizationROSC++LQRQuadrotor To reference this document use: http://resolver.tudelft.nl/uuid:04f50f3b-8572-4c68-b75b-e6990c639be0 Part of collection Student theses Document type master thesis Rights © 2018 Libardo Navia Vela Files PDF thesis.pdf 10.78 MB Close viewer /islandora/object/uuid:04f50f3b-8572-4c68-b75b-e6990c639be0/datastream/OBJ/view