Implementing rover speed control in Paparazzi UAV

  1. González-Calvin, Alfredo 1
  2. Jiménez, Juan F. 1
  3. García Pérez, Lía 1
  1. 1 Universidad Complutense de Madrid
    info

    Universidad Complutense de Madrid

    Madrid, España

    ROR 02p0gd045

Libro:
XLIV Jornadas de Automática: libro de actas: Universidad de Zaragoza, Escuela de Ingeniería y Arquitectura, 6, 7 y 8 de septiembre de 2023, Zaragoza
  1. Ramón Costa Castelló (coord.)
  2. Manuel Gil Ortega (coord.)
  3. Óscar Reinoso García (coord.)
  4. Luis Enrique Montano Gella (coord.)
  5. Carlos Vilas Fernández (coord.)
  6. Elisabet Estévez Estévez (coord.)
  7. Eduardo Rocón de Lima (coord.)
  8. David Muñoz de la Peña Sequedo (coord.)
  9. José Manuel Andújar Márquez (coord.)
  10. Luis Payá Castelló (coord.)
  11. Alejandro Mosteo Chagoyen (coord.)
  12. Raúl Marín Prades (coord.)
  13. Vanesa Loureiro-Vázquez (coord.)
  14. Pedro Jesús Cabrera Santana (coord.)

Editorial: Servizo de Publicacións ; Universidade da Coruña

ISBN: 9788497498609

Año de publicación: 2023

Páginas: 306-310

Congreso: Jornadas de Automática (44. 2023. Zaragoza)

Tipo: Aportación congreso

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Resumen

This paper presents the design, implementation and testing of a speed controller for an autonomous rover with an unicycle drive. The aim is to get the rover to follow the speed setpoint as accurately as possible based on low cost GPS measurements. The use of IMU and GPS measurements was investigated and a moving average filter was designed to use the GPS signal as feedback for the speed controller. This filter and speed control were implemented on a flight controller board on a small autonomous rover using the the Paparazzi UAV development framework. Outdoor tests were performed.

Fuente de los datos: Dialnet