GDL

Waypoint Navigation of AR.Drone Quadrotor Using Fuzzy Logic Controller

Journal from gdlhub / 2016-11-16 09:02:42
By : Veronica Indrawati, Agung Prayitno, Thomas Ardi Kusuma, Telkomnika
Created : 2015-09-01, with 1 files

Keyword : waypoint navigation, AR.Drone control, fuzzy logic controlle
Url : http://journal.uad.ac.id/index.php/TELKOMNIKA/article/view/1862

In this paper, AR.Drone is flown autonomously from the initial position (x,y,z) to the desired position called waypoint (xdes,ydes,zdes) using Fuzzy Logic Controller (FLC). The FLC consists of three control loops which are pitch control loop, roll control loop and vertical rate control loop. Pitch control loop is used to control the x-position of the AR.Drone; the inputs are the desired x-position and current value of x-position, while its output is the pitch. Roll control loop is used to control the y-position of the AR.Drone; the inputs are the desired y-position and current value of y-position, while its output is the roll. Vertical rate control loop is used to control the z-position of the AR.Drone; the inputs are the desired z-position and current value of z-position and its output is the vertical rate. The algorithm is realized in three flight schemes and the navigation data is recorded. The first flight scheme: a desired x-position, xdes, of AR.Drone will be reached first followed by a desired y-position, ydes, and lastly a desired z-position, zdes. The second flight scheme: a desired x-position and y-position, (xdes,ydes), will be reached simultaneously followed by a desired z-position, zdes. The third flight scheme: AR.Drone flies towards to desired position (xdes,ydes,zdes) simultaneously. The results show that the AR.Drone can reach the waypoint with the three schemes well. However, the flight scheme straight towards the waypoint with the FLC working simultaneously is the most satisfying one.

Description Alternative :

In this paper, AR.Drone is flown autonomously from the initial position (x,y,z) to the desired position called waypoint (xdes,ydes,zdes) using Fuzzy Logic Controller (FLC). The FLC consists of three control loops which are pitch control loop, roll control loop and vertical rate control loop. Pitch control loop is used to control the x-position of the AR.Drone; the inputs are the desired x-position and current value of x-position, while its output is the pitch. Roll control loop is used to control the y-position of the AR.Drone; the inputs are the desired y-position and current value of y-position, while its output is the roll. Vertical rate control loop is used to control the z-position of the AR.Drone; the inputs are the desired z-position and current value of z-position and its output is the vertical rate. The algorithm is realized in three flight schemes and the navigation data is recorded. The first flight scheme: a desired x-position, xdes, of AR.Drone will be reached first followed by a desired y-position, ydes, and lastly a desired z-position, zdes. The second flight scheme: a desired x-position and y-position, (xdes,ydes), will be reached simultaneously followed by a desired z-position, zdes. The third flight scheme: AR.Drone flies towards to desired position (xdes,ydes,zdes) simultaneously. The results show that the AR.Drone can reach the waypoint with the three schemes well. However, the flight scheme straight towards the waypoint with the FLC working simultaneously is the most satisfying one.

Give Comment ?#(0) | Bookmark

Property	Value
Publisher ID	gdlhub
Organization	Telkomnika
Contact Name	Herti Yani, S.Kom
Address	Jln. Jenderal Sudirman
City	Jambi
Region	Jambi
Country	Indonesia
Phone	0741-35095
Fax	0741-35093
Administrator E-mail	elibrarystikom@gmail.com
CKO E-mail	elibrarystikom@gmail.com