Effect of Path Planning on Flying Measured Characteristics for Quadcopter Using APM2.6 Controller

  IJETT-book-cover  International Journal of Engineering Trends and Technology (IJETT)          
  
© 2015 by IJETT Journal
Volume-23 Number-7
Year of Publication : 2015
Authors : Wael R. Abdulmajeed, Omar A. Athab, Ihab A. Sattam
DOI :  10.14445/22315381/IJETT-V23P262

Citation 

Wael R. Abdulmajeed, Omar A. Athab, Ihab A. Sattam"Effect of Path Planning on Flying Measured Characteristics for Quadcopter Using APM2.6 Controller", International Journal of Engineering Trends and Technology (IJETT), V23(7),329-334 May 2015. ISSN:2231-5381. www.ijettjournal.org. published by seventh sense research group

Abstract
The effect of path planning for quadcopter flying robot on flying measured characteristics velocity and flying angles (Roll, Pitch and Yaw) have been investigated. Ardupilot Mega2.6 autopilot system controller is used; this controller has the ability to run many multi-rotor or Unmanned Aerial Vehicle (UAV) capable of Performing GPS missions with waypoints. The controller works with software called Mission Planner, this software is open with Google map to implement and record the estimated path for the quadcopter. Through the mission planner software the velocity of flying robot can be set between the waypoints. Three different types of path planning have been studied. Comparisons between the estimated velocities calculated from Mission Planner and the actual velocity have been conducted. The actual flying angles reading (Roll, Pitch and Yaw) have been recorded and compared with estimated angles for all three tests. The Robot shows more stability after each flying test also the velocity of the robot after each test became more close to the set velocity in mission planner for the robot, this relate to the rebalancing of the robot after each test.

 References

[1]N. Tamami, E. Pitowarno, and I. G. P. Astawa, “Proportional Derivative Active Force Control for „X? Configuration Quadcopter,” Journal of Mechatronics, electrical power, and Vehicular Technologies., vol. 5, no. 2, pp. 67–74, 2014.
[2] S. Bernardini, M. Fox, and D. Long, “Planning the Behaviour of Low-Cost Quadcopters for Surveillance Missions,” 24th International conference on Automation and Planning., pp. 445-453. Sched.,Portsmouth, NH, USA, Jjune 21-26, 2014.
[3]S. Bouabdallah, P. Murrieri, and R. Siegwart, “Design and control of an indoor micro quadrotor,” Proceedings. ICRA ?04 IEEE International Conference of Robot and Automation vol. 5, pp. 4393–4398, Anchorage, AK April 26-May 1 2004.
[4]P. A. Ambrosino G, Ariola M, Ciniglio U, Corraro F, Lellis ED, “Path Generation and Tracking in 3-D for UAVs,” IEEE Transactions on Control System Technology, vol. 17, no. 4, pp. 980–988, 2009.
[5]D.-W. Gu, I. Postlethwaite, and Y. Kim, “A Comprehensive Study on Flight Path Selection Algorithms,” in International Conference of IEE Semin. onTarget Track. Algorithms Applications , pp. 83–95. , Biringham, UK, March 7-8, 2006,
[6]X. Z. Gao, Z. X. Hou, X. F. Zhu, J. T. Zhang, and X. Q. Chen, “The shortest path planning for manoeuvres of UAV,” Journal of Acta Polytech. Hungarica, vol. 10, no. 1, pp. 221–239, 2013.
[7]W. Liu, Z. Zheng, and K. Cai, “Adaptive path planning for unmanned aerial vehicles based on bilevel programming and variable planning time interval,” Chinese Journal of Aeronautics., vol. 26, no. 3, pp. 646–660, 2013.
[8]L. Techy, C. A. Woolsey, and K. A. Morgansen, “Planar path planning for flight vehicles in wind with turn rate and acceleration bounds,” in Proceeding IEEE International Conference of Robot and Automation, pp. 3240–3245, Anchorage, AK, May 3-7,2010,.
[9]R. He, S. Prentice, and N. Roy, “Planning in information space for a quadrotor helicopter in a GPS-denied environment,” Proceeding IEEE International Conference on Robot and Automation, pp. 1814–1820. Pasadena, CA, May 19-23,2008.
[10]A. Nemes, “Synopsis of Soft Computing Techniques used in Quadrotor UAV Modeling and Control,” Journal Interdisciplinary Description of Complex Systems, vol. 13, no. 1, pp. 15–25, 2015.
[11] http://www.ardupilot.co.uk/.
[12] http://blog.oscarliang.net/.
[13] http://physics.info/ .
[14] https://www.mathsisfun.com.

Keywords
Quadcopter, APM2.6 Controller, Autopilot system, Path planning, Velocity, Flying angles.