Implementing rover speed control in Paparazzi UAV
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http://hdl.handle.net/2183/33623
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/
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Implementing rover speed control in Paparazzi UAVDate
2023Citation
González-Calvin, A., Jiménez, J.F., García-Pérez, L. 2023. Implementing rover speed control in Paparazzi UAV. XLIV Jornadas de Automática, 306-310. https://doi.org/10.17979/spudc.9788497498609.306
Abstract
[Abstract] This paper presents the design, implementation and testing of a speed controller for an autonomous rover with an unicycle drive. The aim is to get the rover to follow the speed setpoint as accurately as possible based on low cost GPS measurements. The use of IMU and GPS measurements was investigated and a moving average filter was designed to use the GPS signal as feedback for the speed controller. This filter and speed control were implemented on a flight controller board on a small autonomous rover using the the Paparazzi UAV development framework. Outdoor tests were performed.
Keywords
Filtering and smoothing
Moving average filter
Speed control
Autonomous rover
Control of systems in vehicles
GPS
Moving average filter
Speed control
Autonomous rover
Control of systems in vehicles
GPS
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Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/
ISBN
978‐84‐9749‐860‐9