Teaching Aids for Laboratory Experiments with AR.Drone2 Quadrotor^*

详细信息    查看全文

• 作者：Juraj &Scaron ; tevek^* ; ^{juraj.stevek@stuba.sk" class="auth_mail" title="E-mail the corresponding author} ; Miroslav Fikar^* ; ^{miroslav.fikar@stuba.sk" class="auth_mail" title="E-mail the corresponding author}
• 关键词：AR.Drone2 ; modeling ; identification ; Kalman filter ; control
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：6
• 页码：236-241
• 全文大小：646 K

文摘

The goal of the paper is to create low-cost quadrotor laboratory experiments for undergraduate and graduate students at automation departments. We present tutorials for various experiments with the AR.Drone2 quadrotor. This device is an eye-catching and versatile system where students can solve problems in various areas of modeling, identification, and control of multiple-input multiple-output (MIMO) nonlinear systems. A software interface for experiments is based on Robot Operating System (ROS) and Ardrone_autonomy package. It is possible to use different programming languages like C++, Python and Lisp within the ROS depending on a user’s preference. In the paper we present basic characteristics of the AR.Drone2, a suitable modeling approach, system identification from input-output data, state observation, and control design. We accentuate an experimental validation.