autonomous control theory unmanned aerial …
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AUTONOMOUS CONTROL THEORY
UNMANNED AERIAL SYSTEMS (ACTUAS)
Fixed-Wing Drone & Quadcopter
INTRODUCTION
● ACTUAS’s goal is to design and assemble autonomous unmanned aerial
vehicles (UAVs) for specialized tasks involving surveying applications.
● The knowledge and experience gained would be shared to schools and
universities in the Pacific Islands.
MISSION STATEMENT
“To design and implement a fixed wing drone
and a quadcopter to survey the large Kauai
coffee plantation field .”
BUSINESS REQUIREMENTS
● Determine the maximum number of trees that can be planted in Kauai Coffee
Co. (KCC)’s 3100 acre field.
● Verify if KCC has a total of 4 million trees planted.
● Compare growth rates of trees in the same area and other areas to determine if
the trees are growing healthy.
● Determine areas where trees are not growing at all despite being planted.
SYSTEM REQUIREMENTS
Source: http://www.hawaiicoffeeassoc.org/kauai
● Must be able to fly at least 30 minutes
continuously at an altitude that gives the most
efficient viewing without compromising the
quality of the pictures taken.
● Must follow the intended trajectory i.e. follow
a set of waypoints autonomously.
● Must have a max speed of less than 100 mph
(FAA reg).
● Must fly lower than 400 ft (FAA reg).
● Total weight cannot exceed 55 lbs (FAA reg).
SYSTEM REQUIREMENTS
Source: https://www.impresspages.lt/view/15760/cheapest-fpv-o
sd-with-gps-distance.html
● On screen display (OSD) and first person view
(FPV) must display altitude, velocity and
battery voltage at all times.
● Must be able to capture “birds eye view”
perspective images.
● Must be capable of hand launched, and land in
designated landing area.
● Must be able to capture and process infrared
images of the target.
● Transmitter (FrSky Taranis)
● Flight Controller (PixHawk II 2.1)
PARTS LIST: Fixed-Wing Drone
● Battery (4S 10000mAh LiPo Battery)
● GPS (Here GNSS)
● Propellers, Motors, and Servos
● Airframe (My Twin Dream)
PARTS LIST: Quadcopter
● Battery (4S 6600mAh Lipo Battery)
● Remote Controller (Taranis QX7)
● Propellers, Motors, and Servos
● Flight Controller (PixHawk 2.1 Autopilot w/ GPS)
● Frame (Tarot IRON MAN 650)
FLIGHT DYNAMICS SIMULATIONS
● Obtain flight trajectory and required thrust to fly at a certain speed based on
aircraft parameters.
● Task: replicate results from JOA and JIRS papers by solving Flight Dynamic
ODEs numerically, then use aircraft parameters for the drone.○ Reason: apply complex conditions that include ones that would be impossible to solve
analytically.
FLIGHT SIMULATION RESULTSStable flight sim. params: CD=0.2, CL=1.0, As=0.088 m2
FLIGHT SIMULATION RESULTS
From JOA Paper From JIRS Paper
A = 0.1, a = 9.75
MISSION PLANNER➔ Will be using Pixhawk along with Mission
Planner to plan and execute the flight path.
➔ KCC Property divided into 20 sections
➔ Flight time for each section should be about 30-45 mins.
➔ Flight path plan for section #2 with mobile Home point and way points
➔ Expected to use a Red Edge camera
➔ Altitude - approx 120 m (based on camera specs)
➔ Flying speed - 15 m/s (based on camera specs)
➔ Expected to take total of approx 12,000 pictures https://www.micasense.com/rededge-m/
PID FEEDBACK CONTROL
NewBee Drone (TinyWhoop) Flight Test 270 Chase Quad
PID RangeP: 40-180I: 37-50D: 30-35
PID’s ManufacturerP: 50 50 180I: 40 40 45D: 14 18
PID’s TunedP: 80 100 180I: 37 37 45D: 35 35
Roll, Pitch, Yaw
PID’s ManufacturerP: 40 58 70I: 40 50 45D: 30 35
PID’s TunedP: 40 58 80I: 40 50 45D: 30 35
CONCLUSION
● Design and Assemble a Fixed Wing and Quadcopter with the purpose of land
surveillance for KCC.
● Must meet FAA regulations with a flight time of a minimum 30-45 minutes,
following waypoints, and capturing images.
● Move away from PID controls to a more robust control.
● Possibility of extension to outer islands including Guam, Marshall Islands, etc.
SPECIAL THANKS TO. . .
● Ms. Misti Moore - Manager, NASA MUREP MOO
● Dr. Corey Ippolito - Head of Exploration Aerial Vehicle Systems (EAV) Lab.
● Dr. Terence Pagaduan - NASA Ames Research Center Project Coord.
● Mr. Rod Chappell - NASA Langley - MUREP
● Dr. Linda Hayden - NASA MUREP MOO, Principal Investigator
● Mr. Iam Bouret - Advisor, ACTUAS
● Dr. Dilmurat Azimov - Advisor and Professor, Department of Mech. Eng.
● Mr. Evan Kawamura - Mentor, ACTUAS
● Ms. Melissa Onishi - Program Coordinator, HESTEMP