Quadcopters represent complex systems to which we dedicate extensive attention, particularly in high-level and low-level control. High-level control includes trajectory generation, path planning, and obstacle avoidance. Testing various control algorithms using simulation is recommended. After completing the simulation, we proceed with testing on the device itself, which requires the use of specialized equipment.
The objective of this work is to study an appropriate mathematical model and manage it for simulation purposes. Subsequently, a motion capture system will be established, and basic control algorithms will be tested on a real device.
We successfully simulated the flight of a quadcopter using the chosen mathematical model. With PSO optimization, we appropriately adjusted the PID parameters, improving the efficiency of control. The results were satisfactory. Less satisfactory results were recorded during testing on the actual device, which we largely attribute to the hardware limitations of the device.
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