Course

Fixed Wing and Multirotor Micro Drones: Introduction 3 Drones 3 Kinematic and dynamics modelling formulation of drones – Transformation and representations 3 Dynamics of a fixed-wing drones, Propeller theory 3 Thrust and drag moment 3 Dynamics of a multi rotor micro drones (MMD) 3 Mathematical modelling of MMD.

State Estimation: Physics and working of Navigational sensors 3 Inertial Sensors 3 Magnetometer 3 Pressure sensors, GPS 3 Camera based navigation 3 Kalman filter 3 Position and velocity analysis, Inertial navigation systems 3 Attitude estimation.

Flight Controls and Motion Planning: PIC control 3 Lateral control of MMD, LQR 3 Design of servo LQR control, Linear model predictive control 3 Design and implementation. Holonomic vehicle boundary value solver, Dubins airplane model boundary value solver 3 collision free navigation, Structural inspection path planning.

Suggested Lab Sessions:

·         Study of components of a drone

·         Simulation of Drone Flying in a simulator (using hand-held drone controller)

·         Assembly of drones

·         Calibration and testing of drones

·         Flying of drones in the form of simpler to complex tasks

Course Outcomes:

CO1: Solve the kinematics and dynamics of fixed wing drones.

CO2: Solve the kinematics and dynamics of fixed wing drones multi rotor micro drones.

CO3: Design the flight controls of drones.

CO4: Design and develop path planning algorithms for drones.

Textbooks / References:

1.       R. Beard, and T. W. McLain, Small Unmanned Aircraft: Theory and Practice, Princeton University Press, 2012.

2.       R. C. Nelson, Flight Stability and Automatic Control, McGraw Hill, New York, 1998.