Indoor Navigation Strategies for Aerial Autonomous Systems (eBook)

Front Cover 1
Indoor Navigation Strategies for Aerial Autonomous Systems 4
Copyright 5
Contents 6
About the Authors 10
Preface 12
Acknowledgments 14
Part 1 Background 16
1 State-of-the-Art 18
1.1 Mathematical Representation of the Vehicle Dynamics 19
1.2 Attitude Estimation Using Inertial Sensors 21
1.3 Delay Systems & Predictors
1.4 Data Fusion for UAV Localization 23
1.5 Control & Navigation Algorithms
1.6 Trajectory Generation & Tracking
1.7 Obstacle Avoidance 31
1.8 Teleoperation 35
References 37
2 Modeling Approaches 46
2.1 Force and Moment in a Rotor 46
2.2 Euler-Lagrange Approach 47
2.3 Newton-Euler Approach 52
2.4 Quaternion Approach 55
2.5 Discussion 64
References 65
Part 2 Improving Sensor Signals for Control Purposes 66
3 Inertial Sensors Data Fusion for Orientation Estimation 68
3.1 Attitude Representation 68
3.2 Sensor Characterization 70
3.3 Attitude Estimation Algorithms 71
3.4 A Computationally-Efficient Kalman Filter 79
3.5 Discussion 88
References 89
4 Delay Signals & Predictors
4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays 91
4.2 State Predictor-Control Scheme 102
4.3 Discussion 120
References 122
5 Data Fusion for UAV Localization 124
5.1 Sensor Data Fusion 124
5.2 Prototype and Numerical Implementation 131
5.3 Flight Tests and Experimental Results 133
5.4 OptiTrack Measurements vs EKF Estimation 139
5.5 Rotational Optical Flow Compensation 141
5.6 Discussion 143
References 143
Part 3 Navigation Schemes & Control Strategies
6 Nonlinear Control Algorithms with Integral Action 148
6.1 From PD to PID Controllers 149
6.2 Saturated Controllers with Integral Component 151
6.3 Integral and Adaptive Backstepping Control - IAB 160
6.4 Discussion 168
References 169
7 Sliding Mode Control 172
7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression 172
7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design 175
7.3 Numerical Validation 181
7.4 Real-Time Validation 189
7.5 Discussion 193
References 193
8 Robust Simple Controllers 196
8.1 Nonlinear Robust Algorithms Based on Saturation Functions 197
8.2 Robust Control Based on an Uncertainty Estimator 211
8.3 Discussion 226
References 227
9 Trajectory Generation, Planning & Tracking
9.1 Quadrotor Mathematical Description 229
9.2 Time-Optimal Trajectory Generation 232
9.3 UAV Routing Problem for Inspection-Like Missions 235
9.4 Trajectory Tracking Problem 238
9.5 Simulation Results 239
9.6 Discussion 255
References 255
10 Obstacle Avoidance 258
10.1 Artificial Potential Field Method 258
10.2 Obstacle Avoidance Algorithm 263
10.3 Limit-Cycle Obstacle Avoidance 272
10.4 Discussion 276
References 276
11 Haptic Teleoperation 278
11.1 Experimental Setup 279
11.2 Collision Avoidance 284
11.3 Haptic Teleoperation 285
11.4 Real-Time Experiments 286
11.5 Discussion 289
References 290
Index 292
Back Cover 302