SYNOPSIS OF SOFT COMPUTING
TECHNIQUES USED IN QUADROTOR
UAV MODELLING AND CONTROL
Attila Nemes
Óbuda University, Doctoral School of Safety and Security SciencesBudapest, Hungary
| INDECS 13(1), 15-25, 2015 DOI 10.7906/indecs.13.1.3 Full text available here. |
Received: 16 November 2014. |
ABSTRACT
The aim of this article is to give an introduction to quadrotor systems with an overview of soft computing techniques used in quadrotor unmanned aerial vehicle (UAV) control, modelling, object following and collision avoidance. The quadrotor system basics, its structure and dynamic model definitions are recapitulated. Further on synopsis is given of previously proposed methods, results evaluated and conclusions drown by authors of referenced publications. The result of this article is a summary of multiple papers on fuzzy logic techniques used in position and altitude control systems for UAVs. Also an overview of fuzzy system based visual servoing for object tracking and collision avoidance is given together with a briefing of quadrotor UAV control techniques efficiency study. Conclusion is that though soft computing methods are widely used with good results, there is still place for much research to be done on find more efficient soft computing tools for simple modelling, robust dynamic control and fast collision avoidance in quadrotor UAV control.
KEY WORDS
UAV, quadrotor, control, soft computing, fuzzy logicCLASSIFICATION
ACM: G.1.6
JEL: Z19
PACS: 45.40.-f, 87.19.lu