Unmanned Aerial Vehicle (UAV) Quadcopter has many functions and uses as logistics transportation with the advantages of transportability efficiency as a means of air transportation. Barriers to UAVs in carrying out their functions as air transportation are obstacles. UAV requires an automatic control system that can fly following the trajectory, detect and avoid obstacles. The obstacle avoidance control system in this study uses the Linear Quadratic Regulator (LQR) method with a LiDAR sensor. The point cloud method in LiDAR acts as a determinant of obstacle avoidance decisions. The 6 DOF UAV control system using LQR control method with LiDAR sensor has been well designed. The quadcopter UAV can fly following the trajectory and detect and avoid obstacles autonomously by means of simulations in Matlab software. The results of the simulation state that the quadcopter control system can fly following the trajectory, also detect and avoid obstacles with the LiDAR sensor as an obstacle detecting sensor, where the avoidance path is formed due to the new coordinates obtained from the avoidance algorithm.
Design Quadcopter Automatic Control System for Obstacle Avoidance Using Linear Quadratic Regulator (LQR) with LiDAR Sensor
Advances in Engineering res
Mandalika International Multi-Conference on Science and Engineering ; 2022 ; Mataram, Indonesia September 14, 2022 - September 14, 2022
Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and Electrical) ; Kapitel : 21 ; 193-206
22.12.2022
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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