Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Interfacing SIMULINK/MATLAB with V-REP for analysis and control synthesis of a quadrotor
Download
index.pdf
Date
2016
Author
Khalilov, Javid
Metadata
Show full item record
Item Usage Stats
295
views
295
downloads
Cite This
The primary factor that restricts the new control systems developments for air vehicles and the implementation of various sensors for advanced algorithms is the deficiency of quick and cost-effective physical environment. Flight tests are costly and requires a long preparation process. The aim of this thesis is to improve the simulator infrastructure which easily implementable to the AscTec Hummingbird Quadrotor that is located in the University’s lab and have interaction with the 3D physical environment. Firstly, quadrotor’s mathematical model has been developed and this model is implemented on Matlab/Simulink environment. Afterwards, a basic PID controller is developed for attitude control. The quadrotor’s physical model, the electric motor, the rotor and the IMU model have been modelled on Virtual Robotics Experimentation Platform (V-REP). Matlab / Simulink controller is synchronized with the V-REP and is used for the quadrotor’s physical environment tests. The verification of the simulation is done by real experimental flight data of AscTec Hummingbird. The collision avoidance and wall following algorithms in empty room using ultrasonic distance sensors are implemented to show the usefulness of simulator infrastructure.
Subject Keywords
Vehicles, Remotely piloted.
,
Autonomous vehicles.
,
Flying-machines.
URI
http://etd.lib.metu.edu.tr/upload/12620013/index.pdf
https://hdl.handle.net/11511/25668
Collections
Graduate School of Natural and Applied Sciences, Thesis
Suggestions
OpenMETU
Core
Aerodynamic and structural design and analysis of an electric powered mini UAV
Demircan, Alpay; Kayran, Altan; Department of Aerospace Engineering (2016)
The aim of this study is to describe the aerodynamic and structural design of an electric powered portable Mini UAV. Conceptual design, structural design and analysis of the wing and detail design phases of the UAV are presented in the study. Fixed wing mini UAV configuration with fixed – pitch propeller has been chosen for the design. In order to provide multi-mission capability, payload of the UAV is designed as a replaceable mission compartment. System requirements and mission profiles of the airplane ar...
Fast feature extraction from 3D point cloud
Tarçın, Serkan; Özgen, Gökhan Osman; Department of Mechanical Engineering (2013)
To teleoperate an unmanned vehicle a rich set of information should be gathered from surroundings.These systems use sensors which sends high amounts of data and processing the data in CPUs can be time consuming. Similarly, the algorithms that use the data may work slow because of the amount of the data. The solution is, preprocessing the data taken from the sensors on the vehicle and transmitting only the necessary parts or the results of the preprocessing. In this thesis a 180 degree laser scanner at the f...
Vision-aided landing for fixed wing unmanned aerial vehicle
Esin, Engin; Kutay, Ali Türker; Department of Aerospace Engineering (2016)
The aim of this thesis is to design an autoland system for fixed wing unmanned aerial vehicle (UAV) to make auto landing by using position information calculated by image processing algorithms. With this ability, even if GPS is not available to be used, UAV still could make a safe automatic landing. Landing autopilot is aimed to keep UAV on a straight line with a constant flight path angle. Therefore, landing autopilot and computer vision methods are studied within the scope of this thesis. Also, to test de...
A Compact Angular Rate Sensor System Using a Fully Decoupled Silicon-on-Glass MEMS Gyroscope
Alper, Said Emre; Temiz, Yuksel; Akın, Tayfun (Institute of Electrical and Electronics Engineers (IEEE), 2008-12-01)
This paper presents the development of a compact single-axis angular rate sensor system employing a 100-mu m-thick single-crystal silicon microelectromechanical systems gyroscope with an improved decoupling arrangement between the drive and sense modes. The improved decoupling arrangement of the gyroscope enhances the robustness of sensing frame against drive-mode oscillations and therefore minimizes mechanical crosstalk between the drive and sense modes, yielding a small bias instability. The gyroscope cor...
High performance readout and control electronics for mems gyroscopes
Şahin, Emre; Akın, Tayfun; Department of Electrical and Electronics Engineering (2009)
This thesis reports the development of various high performance readout and control electronics for implementing angular rate sensing systems using MEMS gyroscopes developed at METU. First, three systems with open loop sensing mechanisms are implemented, where each system has a different drive-mode automatic gain controlled (AGC) self-oscillation loop approach, including (i) square wave driving signal with DC off-set named as OLS_SquD, (ii) sinusoidal driving signal with DC off-set named as OLS_SineD, and i...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
J. Khalilov, “Interfacing SIMULINK/MATLAB with V-REP for analysis and control synthesis of a quadrotor,” M.S. - Master of Science, Middle East Technical University, 2016.