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Autonomous Airshow Using Variable Pitch Quadrotor
Variable pitch quadrotors have very fast dynamics and the capability to achieve negative thrust. Exploiting these properties, we can achieve very aggressive aerobatic trajectories. The aim of this project is to design and implement a fully autonomous airshow based on variable pitch quadrotors.
The goal of this project is to develop a fully autonomous airshow based on variable pitch quadrotors. The fast dynamics of these platforms makes it suitable for aerobatic maneuvers. Experienced pilots can achieve aggressive aerobatics maneuvers through many years of experience as shown in this video (https://www.youtube.com/watch?v=TnGhEInTXYc) However, aggressive maneuvers are very challenging for state estimation and control. The recent advances in visual-inertial navigation
[1], control [2], modeling [3] and embedded systems [4] makes it possible to achieve the desired goal.
Throughout the project, the student will work towards full system developement from hardware choice and integration to software development and control design.
1. M. Bloesch et al. “ROVIO: Robust Visual Inertial Odometry Using a Direct EKF-Based Approach”, IROS 2015
2. M. Kamel et al. "Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles" arXiv:1611.09240
3. M. Burri et al. Maximum Likelihood Parameter Identification for MAVs (ICRA 2016)
4. Intel Aero Board http://click.intel.com/intel-aero-platform-for-uavs-compute-board.html
The goal of this project is to develop a fully autonomous airshow based on variable pitch quadrotors. The fast dynamics of these platforms makes it suitable for aerobatic maneuvers. Experienced pilots can achieve aggressive aerobatics maneuvers through many years of experience as shown in this video (https://www.youtube.com/watch?v=TnGhEInTXYc) However, aggressive maneuvers are very challenging for state estimation and control. The recent advances in visual-inertial navigation [1], control [2], modeling [3] and embedded systems [4] makes it possible to achieve the desired goal.
Throughout the project, the student will work towards full system developement from hardware choice and integration to software development and control design.
1. M. Bloesch et al. “ROVIO: Robust Visual Inertial Odometry Using a Direct EKF-Based Approach”, IROS 2015 2. M. Kamel et al. "Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles" arXiv:1611.09240 3. M. Burri et al. Maximum Likelihood Parameter Identification for MAVs (ICRA 2016) 4. Intel Aero Board http://click.intel.com/intel-aero-platform-for-uavs-compute-board.html
- Brief literature reviews on collective pitch quadcopter.
- State-of-the-art techniques for controlling such vehicles.
- Dynamics modelling, system identification, and controller simulation.
- Setup the hardware and achieve first hovering with vicon, then with visual inertial navigation using very simple PID controller.
- Design a model-based controller (nonlinear MPC) and test it.
- Generate a number of predefined acrobatic trajectories and evaluate the whole system.
- Brief literature reviews on collective pitch quadcopter. - State-of-the-art techniques for controlling such vehicles. - Dynamics modelling, system identification, and controller simulation. - Setup the hardware and achieve first hovering with vicon, then with visual inertial navigation using very simple PID controller. - Design a model-based controller (nonlinear MPC) and test it. - Generate a number of predefined acrobatic trajectories and evaluate the whole system.
- Strong analytical skills.
- Experience with C++ programming.
- Experience with Robot Operating System (ROS) is preferred.
- Strong analytical skills. - Experience with C++ programming. - Experience with Robot Operating System (ROS) is preferred.
Mina Kamel (fmina@ethz.ch)
Inkyu Sa (inkyu.sa@mavt.ethz.ch)
Mina Kamel (fmina@ethz.ch) Inkyu Sa (inkyu.sa@mavt.ethz.ch)