Titulo Estágio
Implementing Choreographed Quadrotors
Áreas de especialidade
Engenharia de Software
Local do Estágio
DEI-FCTUC
Enquadramento
Research interest in small-scale Unmanned Aerial Vehicles (UAVs), particularly quadrotors, is growing rapidly due to their wide range of applications and their potential to perform tasks that are costly to be performed by humans or threat humans’ safety. A quadrotor, which is also known as quadcopter, is a kind of helicopter with four rotors that make it very agile in attaining the full range of motion (capability of hovering, horizontal flight, and vertical take-off and landing). A quadrotor has six degrees of freedom, of which three are related to the position (hovering, horizontal, and vertical motions), and the other three are related to the orientation (pitch, roll, and yaw angles). Thus, controlling the quadrotor stability is a primary concern in the applications and systems using this kind of UAVs. The need to address this issue triggered huge research efforts, which outputted a vast body of fuzzy and PID (proportional–integral–derivative) controllers.
Objetivo
The goal of this work is to implement a flight fuzzy controlling system, proposed and presented in the literature, to show in practice how the quadrotor is stabilized. For the sake of the demonstration, we intend to design a group of Choreographed quadrotors performing some predefined movements together. The selected student must use the hector-quadrotor (http://wiki.ros.org/hector_quadrotor) in ROS+Gazebo for simulation. Then, the implemented controller has to be used in real Choreographed quadrotors. In practice, the expected outcome of this work is a live demonstration of the quadcopters choreography.
Plano de Trabalhos - Semestre 1
[Some tasks might overlap; M=Month]
T1 (M1): Knowledge transfer and preparation of the simulator.
T2 (M2): Learning about the flight dynamics of quadcopters and studying about fuzzy flight controller.
T3 (M3): Implementing a preliminary version of the quadrotor fight controller.
T4 (M4): Testing the controller.
T5 (M5): Writing the Intermediate report.
Plano de Trabalhos - Semestre 2
[Some tasks might overlap; M=Month]
T6 (M6): Integration of the intermediate defense comments in the work and report.
T7 (M6-M7): Complete the implementation of the controller.
T8 (M8): Designing a simple choreography and implementing the choreography designed.
T9 (M9): Testing the choreographed quadrotors.
T10 (M10): Writing the thesis.
Condições
The selected student will be integrated in the Software and Systems Engineering (SSE) group of CISUC that works in cooperation with the Institute of Systems and Robotics (ISR) for this project. The work will be carried out in the facilities of the Department of Informatics Engineering at the University of Coimbra (CISUC - Software and Systems Engineering Group), where a work place and necessary computer resources will be provided.
Observações
Please contact the advisors for any question or clarification needed.
The work will be co-advised by Naghmeh Ramezani Ivaki (naghmeh@dei.uc.pt ) from SSE-CISUC and Prof. Jorge Lobo from ISR (jlobo@isr.uc.pt)
Orientador
Henrique Madeira
henrique@dei.uc.pt 📩