Faculty Advisor

Cowlagi, Raghvendra V.

Abstract

The objective of this project is to design and implement coordinated estimation and control algorithms for a pair of quadrotor unmanned aerial vehicles (UAVs). These algorithms enable one of the UAVs to observe and reduce navigational uncertainty for the other UAV, which carries a relatively small number of sensors. The sensors installed include a LiDAR depth sensor and a camera. The commercially available 3DR Solo UAV is used as a platform. For each UAV, this platform is modified by attaching a Raspberry Pi embedded flight controller. A socket server is designed to enable communication between UAVs. The LQR and EKF tools from control theory are used to design the desired algorithms. The system is demonstrated via a flight test involving the two UAVs following a straight line trajectory.

Publisher

Worcester Polytechnic Institute

Date Accepted

March 2017

Major

Aerospace Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Mechanical Engineering

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