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The Intelligent Flight Control of Quadrotor in Tunnel Based on Simple Sensors

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Book cover Proceedings of 2017 Chinese Intelligent Systems Conference (CISC 2017)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 460))

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Abstract

This paper studies the automation flight control problem of a quadrotor in the tunnel. The LED lamp belt is installed in the tunnel and two moving points are the tracking target of the quadrotor. The velocity-control-mode is first well done before the tracking control algorithm is considered. A control law is then designed to achieve tracking task in the straight tunnel. When the parameter is properly designed, the quadrotor still can perform tracking task for the moving points even in the bent tunnel. Moreover, we prove that the collision between the quadrotor and the tunnel can be avoided by using the proposed control law. The validity of the proposed control algorithm is also demonstrated through numerical simulations.

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Author information

Authors and Affiliations

  1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Rui Li & Yingjing Shi

Authors
  1. Rui Li
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  2. Yingjing Shi
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Corresponding author

Correspondence to Yingjing Shi .

Editor information

Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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Li, R., Shi, Y. (2018). The Intelligent Flight Control of Quadrotor in Tunnel Based on Simple Sensors. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2017 Chinese Intelligent Systems Conference. CISC 2017. Lecture Notes in Electrical Engineering, vol 460. Springer, Singapore. https://doi.org/10.1007/978-981-10-6499-9_2

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  • DOI: https://doi.org/10.1007/978-981-10-6499-9_2

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6498-2

  • Online ISBN: 978-981-10-6499-9

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