NDLI: Development and Modeling of a Low-Cost Unmanned Aerial Vehicle Research Platform

Content Provider	Springer Nature Link
Author	Arifianto, Ony Farhood, Mazen
Copyright Year	2014
Abstract	This paper describes the development and modeling of a low-cost and reliable small unmanned aerial vehicle research platform for advanced control implementation. The platform is mostly constructed of low-cost commercial-off-the-shelf (COTS) components. The only non-COTS components are the airdata probes, which are manufactured and calibrated in-house. The airframe used is the commercially available radio-controlled (R/C) 6-foot Telemaster airplane from Hobby Express, chosen mainly for its adequately spacious fuselage and for being reasonably stable and sufficiently agile. One noteworthy feature of this platform is the use of two separate low-cost onboard computers for handling the data management/hardware interfacing and control computation. Specifically, the single board computer, Gumstix Overo Fire, is used to execute the control algorithms, whereas the open source autopilot, Ardupilot Mega, is mostly used to interface the Overo computer with the sensors and actuators. The platform supports multi-vehicle operations through the use of a radio modem that enables multi-point communications. As the goal of this platform is to implement rigorous control algorithms for real-time trajectory tracking and distributed control, it is important to derive an appropriate flight dynamic model of the platform, based on which the controllers will be synthesized. For that matter, the paper provides reasonably accurate models of the vehicle, servomotors, and propulsion system. Namely, the output error method is used to estimate the longitudinal and lateral-directional aerodynamic parameters from flight test data. The moments of inertia of the platform are determined using the simple pendulum test method, and the frequency response of each servomotor is also obtained experimentally. The Javaprop applet is used to obtain lookup tables relating airspeed to propeller thrust at constant throttle settings.
Starting Page	139
Ending Page	164
Page Count	26
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	80
Issue Number	1
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2014-10-31
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Unmanned aerial vehicle Small fixed-wing aircraft Five-hole probe Flight dynamic model Time-domain system identification Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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