Implementing rover speed control in Paparazzi UAV

• González-Calvin, Alfredo ^[1] ; Jiménez, Juan F. ^[1] ; García Pérez, Lía ^[1]
  1. [1] Universidad Complutense de Madrid

     Universidad Complutense de Madrid

     Madrid, España

     
• Localización: XLIV Jornadas de Automática: libro de actas: Universidad de Zaragoza, Escuela de Ingeniería y Arquitectura, 6, 7 y 8 de septiembre de 2023, Zaragoza / coord. por José Manuel Andújar Márquez, Ramón Costa Castelló, Alejandro R. Mosteo, Vanesa Loureiro-Vázquez, Elisabet Estévez Estévez, David Muñoz de la Peña Sequedo, Carlos Vilas Fernández, Luis Enrique Montano Gella, Pedro Jesús Cabrera Santana, Raúl Marín, Eduardo Rocón de Lima, Manuel Gil Ortega Linares, Óscar Reinoso García, Luis Payá Castelló, 2023, ISBN 9788497498609, págs. 306-310
• Idioma: inglés
• Enlaces
  • Texto completo
• 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.