Use this link to cite:
http://hdl.handle.net/2183/33623 Implementing rover speed control in Paparazzi UAV
Loading...
Identifiers
Publication date
Authors
González-Calvin, Alfredo
Jiménez, Juan F.
García Pérez, Lía
Advisors
Other responsabilities
Journal Title
Bibliographic citation
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
Type of academic work
Academic degree
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.
Description
Editor version
Rights
Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/
Collections
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/