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Using an evolutionary algorithm to search for control algorithm parameters with a quadrocopter as hardware in the loop
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
2015 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis describes the process of finding control loop parameters for a quadrocopter using machine learning techniques and a hardware in the loop evaluation method. A quadrocopter is an Unattended Aerial Vehicle (UAV) with four rotors that can be controlled individually to steer the vehicle. The purpose of the control loop is to keep the roll, pitch and yaw-angles of the quadrocopter to a predefined value by regulating the thrust of each rotor. A quadrocopter is designed and manufactured and a control algorithm is implemented on the built in controller board. An Evolutionary Algorithm (EA) is implemented on a Personal Computer (PC) and an automated search for control parameters using hardware in the loop with the quadrocopter as evaluation model is performed. The results show that a quadrocopter can be used together with hardware in the loop to improve the control algorithm parameters.

Place, publisher, year, edition, pages
2015.
National Category
Robotics Computer Science
Identifiers
URN: urn:nbn:se:mdh:diva-29483OAI: oai:DiVA.org:mdh-29483DiVA: diva2:871519
Subject / course
Computer Science
Supervisors
Examiners
Available from: 2015-11-25 Created: 2015-11-16 Last updated: 2015-11-25Bibliographically approved

Open Access in DiVA

fulltext(2014 kB)96 downloads
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b0067502e4bb8f1b2d92226e23aea71f4a9e2b7656a08e2fceea4e3f635821d847a2f3c3676c0d4f7b7ef143d09dcf276935f3bd12707ca3340f9943c2c26fb1
Type fulltextMimetype application/pdf

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School of Innovation, Design and Engineering
RoboticsComputer Science

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf