장애물 탐지 및 회피를 위한 VTOL 개발

Abstract

This thesis introduces a technique of quad-rotor for detecting and avoiding obstacles to reduce the possibility of collisions. The configuration of the drone considered in this thesis is based on a simple four-rotor system. So it is simple to design and manufacture. The design starts by selecting the appropriate combined component in the system configuration. Mechanical design shall be considered in the choice of propulsion systems as a combination of propellers, motors and batteries that deal with thrust generation. On the other hand, structural design should be robust and the weight of each component should be taken into account. To become an unmanned system, flight control systems require high-speed onboard computers to process and control reliable and reliable data from proven, expensive GPS/INS sensors. So in this work, we built our own flight control computer. In this work, modeling of quad-rotors and designing controls are considered. Modeling is designed using two coordinate systems and Newton's law, while controls are designed using PID controllers. Since modelling and controller performance analysis and verification are required, the performance of the controller is verified by using numerical simulations. In this thesis, collision avoidance algorithm for drones based on Lidar sensors are also briefly investigated. The collision avoidance function shall ensure that the drone does not collide with the obstacle up to the target point. An collision avoidance algorithm is developed by estimating the time of collision and relative speed between the drone and the obstacle. The obstacle detection and avoidance algorithms suggested in this work are demonstrated by using numerical simulation. Finally, flight performance of the quad-rotor is demonstrated by flight test.