State Estimation and Control for Low-cost Unmanned Aerial Vehicles

This book discusses state estimation and control procedures for a low-cost unmanned aerial vehicle (UAV). The authors consider the use of robust adaptive Kalman filter algorithms and demonstrate their advantages over the optimal Kalman filter in the context of the difficult and varied environments in which UAVs may be employed. Fault detection and isolation (FDI) and data fusion for UAV air-data systems are also investigated, and control algorithms, including the classical, optimal, and fuzzy controllers, are given for the UAV. The performance of different control methods is investigated and the results compared.State Estimation and Control of Low-Cost Unmanned Aerial Vehicles covers all the important issues for designing a guidance, navigation and control (GNC) system of a low-cost UAV. It proposes significant new approaches that can be exploited by GNC system designers in the future and also reviews the current literature. The state estimation, control and FDI methods are illustrated by examples and MATLAB® simulations.State Estimation and Control of Low-Cost Unmanned Aerial Vehicles will be of interest to both researchers in academia and professional engineers in the aerospace industry. Graduate students may also find it useful, and some sections are suitable for an undergraduate readership.


Autonomous quadrotor flight with vision-based obstacle avoidance in virtual environment
Eresen, Aydin; Imamoglu, Nevrez; Efe, Mehmet Onder (Elsevier BV, 2012-01-01)
In this paper, vision-based autonomous flight with a quadrotor type unmanned aerial vehicle (UAV) is presented. Automatic detection of obstacles and junctions are achieved by the use of optical flow velocities. Variation in the optical flow is used to determine the reference yaw angle. Path to be followed is generated autonomously and the path following process is achieved via a PID controller operating as the low level control scheme. Proposed method is tested in the Google Earth (R) virtual environment fo...
Coordinated guidance for multiple UAVs
Cakici, Ferit; Ergezer, Halit; Irmak, Ufuk; Leblebicioğlu, Mehmet Kemal (2016-05-01)
This paper addresses the path planning problem of multiple unmanned aerial vehicles (UAVs). The paths are planned to maximize collected amount of information from desired regions (DRs), while avoiding forbidden regions (FRs) and reaching the destination. This study focuses on maximizing collected information instead of minimizing total mission time, as in previous studies. The problem is solved by a genetic algorithm (GA) with the proposal of novel evolutionary operators. The initial populations are generat...
Vision-Based Detection and Distance Estimation of Micro Unmanned Aerial Vehicles
Gökçe, Fatih; Üçoluk, Göktürk; Şahin, Erol; Kalkan, Sinan (MDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND, 2015-9)
Detection and distance estimation of micro unmanned aerial vehicles (mUAVs) is crucial for (i) the detection of intruder mUAVs in protected environments; (ii) sense and avoid purposes on mUAVs or on other aerial vehicles and (iii) multi-mUAV control scenarios, such as environmental monitoring, surveillance and exploration. In this article, we evaluate vision algorithms as alternatives for detection and distance estimation of mUAVs, since other sensing modalities entail certain limitations on the environment...
Efficiency-aware and energy-aware data collection via a UAV with limited-capacity battery in robotic wireless sensor networks
Gül, Ömer Melih; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2020-12-17)
This thesis investigates efficiency-aware and energy-aware data-collection problems by an unmanned aerial vehicle (UAV) with limited-capacity battery, in a clustered robot network. In each cluster, a cluster head (CH) robot allocates tasks to remaining robots and collects data from them. Firstly, we consider this problem by focusing on minimizing energy consumption of UAV coupled to minimum cost data collection from CH robots by visiting optimal portion of CH robots. UAV decides the CH robots to visit by co...
Development of an autopilot for automatic landing of an unmanned aerial vehicle
Arıbal, Seçkin; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2011)
This thesis presents the design of an autopilot and guidance system for an unmanned aerial vehicle. Classical (PID) and modern control (LQT, Sliding Mode) methods for autonomous navigation and landing in adverse weather conditions are implemented. Two different guidance systems are designed in order to navigate through waypoints during normal and/or emergency flight. The nonlinear Pioneer UAV model is used in controller development and simulations. Aircraft is linearized at different trim points and total a...
Citation Formats
H. E. Söken, State Estimation and Control for Low-cost Unmanned Aerial Vehicles. 2015.