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.


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    Title :

    Design Quadcopter Automatic Control System for Obstacle Avoidance Using Linear Quadratic Regulator (LQR) with LiDAR Sensor


    Additional title:

    Advances in Engineering res



    Conference:

    Mandalika International Multi-Conference on Science and Engineering ; 2022 ; Mataram, Indonesia September 14, 2022 - September 14, 2022



    Publication date :

    2022-12-22


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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