Research On Quanser Unmanned Control System Based On Sensor Fusion Technique

Quanser Unmanned Vehicle System (UVS) experiment platform is composed of a six-OptiTrack-camera system, a Qball-X4 quadrotor unmanned aerial vehicle (UAV), Qbot ground robots, the PC host, and the MATLAB/Simulink real-time control software QuaRC installedand wireless communication module. Quanser UVS can be used for designing controllers of quadrotor unmanned aerial vehicle (UAV) and Qbot, sensor fusion, trajectory planning, trajectory tracking and the formation control of multiple unmanned vehicles'study, by means of the hardware-in-the-loop simulation (HIL) can be intuitive for verification on the theory and methods. In recent years, the study of quadrotor UAV attitude estimation, has become one of research focuses in UAVs, and the research of mobile robot path planning motion control is also widely used in a variety of fields. Using Quanser unmanned control system based on sensor fusion, Qball-X4 attitude Angle (roll) is estimated and the Qbot trajectory planning is achieved in this thesis. Attitude estimation is adopted by fusion the measurement signal of accelerometer and gyroscope, the existing sensor fusion methods are Kalman filter and particle filter and extended Kalman filter and so on. According to experimental platform and the frequency-domain characteristics of the two kinds of sensors, the design of complementary filter is simple and practical; in the trajectory planning, a variety of trajectory planning methods based on the Qbot is designed in thesis. The major research and innovation work in the thesis are summarized as follows:(1) The nonlinear model of quadrotor UAV and the differential drive mathematical model of mobile robot is established. The linearized model is used in the design of controller and the way of movement simply is analyzed. According to the mathematical model of Qbot, the HIL simulation control model can be established.(2) Aiming at deliberative, reactive and hybrid trajectory planning design method. Reactive motion planning based on infra-red (IR) sensor and the bump sensor fusion method are designed and simulated. Obstacle avoidance is investigateded in the HIL simulation experiment and it shows that it is available, effective and with perfect performance.(3) The basic movement of wheeled mobile robot is studied. A trajectory tracking control method called Lyapunov-based Guidance Control is presented, and the stability of the method is proved. This method is verified by experimental results in HIL with MATLAB and Simulink, and has good tracking performance.(4) The definition of sensor fusion and classification model are introduced in the thesis, and the estimating method of quadrotor UAV attitude angle (roll) is analyzed. Attitude estimation, as the feedback signal of the controller, is adopted by the fusion of the measurement signals of accelerometer and gyroscope. This method is verified by experimental results in HIL with MATLAB and Simulink, and has good performance.