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dc.contributor.author
Malyuta, Danylo
dc.contributor.supervisor
Brockers, Roland
dc.contributor.supervisor
Stastny, Thomas
dc.contributor.supervisor
Hinzmann, Timo
dc.date.accessioned
2018-03-23T07:17:05Z
dc.date.available
2018-03-08T18:33:22Z
dc.date.available
2018-03-23T07:17:05Z
dc.date.issued
2018-03-08
dc.identifier.uri
http://hdl.handle.net/20.500.11850/248154
dc.identifier.doi
10.3929/ethz-b-000248154
dc.description.abstract
Autonomous multirotor Micro Aerial Vehicles (MAVs) are currently being actively developed for personal, commercial and military applications. Three of the most rapidly growing use cases are precision farming, environmental surveying and surveillance. These markets require full-cycle autonomous MAVs i.e. robots that can not only perform single-flight autonomous data collection but that can also automati- cally recharge so as to sustain long term operation with no human in the loop. No such suitable commercial MAV exists today. Motivated by this market gap, this thesis pioneers a full-cycle autonomous MAV system using an AscTec Pelican quadrotor. Designed for a data collection mission, the MAV takes off, flies a waypoint trajectory, lands on a contact-based charging pad, recharges and then repeats the cycle all without human presence. This thesis develops the entire guidance, visual landing navigation, control and autonomy engine subsystems from the ground up. After describing the hardware and software architectures, a visual landing navigation pipeline is developed based on Recursive Least Squares AprilTag bundle pose estimation. Then, guidance is explained which consists of polynomial trajectory generators, a real time trajectory sequencer and a trajectory tracker. A full cascaded control loop is designed next and this report explains its complete development starting from a flight dynamics model, then system identification, then controller theoretical design followed by implementation peculiarities, parameter tuning and finally an enlightening performance and robustness analysis. With the guidance, navigation and control system available, a state machine based autonomy engine is developed to carry out a full-cycle autonomous data collection mission. We finally present how these subsystems perform individually and as a complete, working system. Data is taken from a Software In The Loop high fidelity simulation as well as indoor and outdoor real life flight tests. The highlights of this body of work are: • An AprilTag 2 based visual landing navigation pipeline, an evaluation of bundle pose measurement accuracy and a definition of ideal bundle geometry; • A guidance trajectory sequencer that implements a well-defined set of real time trajectory sequencing mechanics; • A complete three stage cascaded control loop with novel quaternion-based yaw control; • A hierarchical autonomy engine based on self developed, Unified Modeling Language compatible state machines; • A modified RotorS simulator that can run a Software In The Loop simulation of the entire system presented herein.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
ETH Zurich
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Guidance navigation and control
en_US
dc.subject
Autonomy
en_US
dc.subject
Takeoff
en_US
dc.subject
Vision-based landing
en_US
dc.subject
State machines
en_US
dc.subject
System identification
en_US
dc.subject
Quadrotor dynamics
en_US
dc.subject
Quadrotor control
en_US
dc.title
Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy
en_US
dc.type
Master Thesis
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2018-03-23
ethz.size
276 p.
en_US
ethz.publication.place
Zurich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems
en_US
ethz.date.deposited
2018-03-08T18:33:28Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2018-03-23T07:17:51Z
ethz.rosetta.lastUpdated
2021-02-14T22:59:08Z
ethz.rosetta.versionExported
true
ethz.COinS
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