Date of Award:

2016

Document Type:

Thesis

Degree Name:

Master of Science (MS)

Department:

Mechanical and Aerospace Engineering

Advisor/Chair:

Rajnikant Sharma

Abstract

This research proposes to adapt the concept of trajectory shaping guidance law on a quadrotor to follow several different predefined, compact paths. Keeping the real world nonlinearities, sensor and process noise in mind, the technique is simulated using MATLAB-Simulink. This guidance concept is implemented on a real, custom built quadrotor for which a new testing platform was developed from the ground up. Also, the results obtained from the trajectory shaping concept are compared to the performance characteristics of another path following concept called differential flatness. In addition to this, root mean square of position error data is used to compare the vehicle convergence to the desired trajectory.

Checksum

146092b01c692a4f8b02671da3660a2d

Share

COinS