Chapter 7. CONCLUSIONS AND FUTURE WORKS
7.1 Conclusions
This thesis presents the new HILS configuration for the quad-rotor UAV. Integration to HILS is a proposed synchronization controller which improves the tracking performance of the quad-rotor UAV. Furthermore, the vision applications based on mono camera and RGB-D camera are used for the autonomous landing and the SLAM problem.
The first contribution that is proposed the HILS configuration based on the Pixhawk, Gazebo software and the CAS. Herein, the Pixhawk is used to install the flight control algorithm which is developed using the PX4 open source code. A tracking position controller is make to drive the flight operation. The Gazebo is used to present the quad-rotor UAV model, 3D visualization, 3D environment and sensor model. The CAS is used to control the communication between all parts of HILS. By using the multithread architecture, the CAS can provide better performance of HILS than the original communication of HILS with the single thread.
Secondly, the synchronization controller is proposed to improve the tracking performance of the quad-rotor UAV, which uses the SMC and PIDNNC control techniques to compensate the error between actuators of the quad-rotor UAV. Using the Lyapunov stability theory, the SYNC can ensure the stable for the system. The proposed controller is demonstrated based on the HILS system. The controllers and the motor model are integrated to HILS through the plugin in Gazebo simulation software. The proposed controller has the effectiveness not only the quad- rotor UAV configuration but also the 3RRR parallel robot.
Thirdly, the effectiveness of HILS is indicated by the vision applications which uses the Raspberry board to install the vision algorithms. The proposed HILS system is integrated more hardware and software to make a full HILS system. A mono camera model is built in the Gazebo
88 simulation software. And a 3D environment included a marker landing pad on the ground is created. This camera signal is sent to the Raspberry board which uses the vision signal for detecting position of landing pad. This position is sent to Pixhawk to take the quad-rotor UAV landing to the pad. All parts of the HILS is synchronized to make the good simulation based on HILS configuration.
Finally, a proposed HILS is presented to simulate the SLAM problem. In this thesis, the Graph-SLAM is used to make the 3D mapping and generate the localization of the quad-rotor UAV using the RGB-D camera from Gazebo. Two process: Front-End and Back-End are applied, Front-End is used to extract the 2D feature of the current and previous RGB image. Thence, the corresponding between the set features can be found. They are combined with the depth information to make the set 3D points. Based on ICP algorithm, the rotation and translation between the 3D points can be obtained. Therefore, a graph included the node and edge is made.
Herein, the node is the pose of the quad-rotor UAV and the edge is the rotation and translation information between two poses. By using the Levenberg-Marquardt, the graph is optimized to minimize the error between two poses. Therefore, the poses are updated and the 3D mapping is created. Total processes are a closed loop and work in the real time condition. The Graph-SLAM is demonstrated by using the configuration of the room in the gazebo. The results indicate that the Graph-SLAM has high performance and the HILS could provide the complex simulation for the quad-rotor UAV.
7.2
Future works
The further works may need to include the following two aspects:
Applying the synchronization controller to real quad-rotor UAV.
Verifying the HILS and the realistic quad-rotor UAV.
89
LIST OF PUBLICATIONS
A. International Journals:
[1] Khoa Dang Nguyen, Cheolkeun Ha, Truong Quang Dinh, and James Marco,
"Synchronization controller for a 3-RRR parallel", International Journal of Precision Engineering and Manufacturing, Vol. 19, No. 3, pp. 339– 347, 2018.
[2] Khoa Dang Nguyen, and Cheolkeun Ha, "Development of Hardware-In-the-Loop- Simulation based on Gazebo and Pixhawk for Unmanned Aerial Vehicles", International Journal of Aeronautical and Space Sciences, Vol. 19, pp. 238– 249, 2018.
[3] Xuan Vinh Ha, Cheolkeun Ha, and Khoa Dang Nguyen, "A General Contact Force Analysis of an Under-Actuated Finger in Robot Hand Grasping", International Journal of Advanced Robotic Systems, Vol. 13(1), 2016.
[4] Khoa Dang Nguyen, Cheolkeun Ha, "Synchronization controller for a Quad-rotor Unmanned Aerial Vehicles", International Journal of Aeronautical and Space Sciences, Revised, 2018.
B. Conference:
[1] Khoa Dang Nguyen, and Cheolkeun Ha, "Vision-Based Hardware-in-the-loop-simulation for Unmanned Aerial Vehicles", 2018 International Conference on Intelligent Computing (ICIC2018), Aug. 15-18, 2018, Wuhan, China.
[2] Khoa Dang Nguyen, Cheolkeun Ha, and Jong Tai Jang, "Development of A New Hybrid Drone and Software-In-The-Loop Simulation Using PX4 code", 2018 International Conference on Intelligent Computing (ICIC2018), Aug. 15-18, 2018, Wuhan, China.
90
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