Embedded systems for research with quadrotors: design and development

• Grant number: 12/01511-6
• Support type: Scholarships in Brazil - Master
• Effective date (Start): April 01, 2012
• Effective date (End): February 28, 2014
• Field of knowledge: Engineering - Electrical Engineering
• Principal Investigator: Janito Vaqueiro Ferreira
• Grantee: Conrado Silva Miranda
• Home Institution: Faculdade de Engenharia Mecânica (FEM). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil

Abstract

It is proposed in this research project to develop an architecture to facilitate testing algorithms developed by researchers for a quadrotor. In this scope, we question how this architecture must be built to be easy to use, without sacrificing computing power. The integrated design between hardware and software allows them to work smoothly and systematically in order to force the programs to be developed following the practice of software engineering, increasing the robustness of the system as a whole. The project consists of two phases: the development of architecture and design of control algorithms and state estimators. The first phase is responsible for the specification of sensors, actuators, processors and components, including interfaces for the programs and how external components are coupled to the architecture. During its execution, we will determine the need to change the structure or components used, and generate comprehensive documentation system. The second phase includes the development of control algorithms and estimation techniques known as inverse dynamics and Kalman filters, in order to stabilize the quadrirrotor developed using the architecture. (AU)

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

MIRANDA, Conrado Silva. Automatic tuning of a controller's parameters for a quadrotor with unknown model during hover. 2014. Master's Dissertation - Universidade Estadual de Campinas. Faculdade de Engenharia Mecânica.