Abstract
This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra's algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries.The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.
Original language | English |
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Article number | 380 |
Pages (from-to) | 1-9 |
Number of pages | 9 |
Journal | International Journal of Advanced Robotic Systems |
Volume | 10 |
DOIs | |
Publication status | Published - 5 Nov 2013 |
Externally published | Yes |