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Robust Control of a Miniature Ducted - Fan Aerial Robot for Blind Navigation in Unk nown Populated Environments

Category : Robotics


Sub Category : Domestic Robot


Project Code : ITROB14


Project Abstract

Introduction:

This paper proposes a control strategy for a miniature ducted-fan aerial robot to safely perform flight missions in an unknown densely populated environment. The main novelty of the proposed framework is that the vehicle is assumed to be totally blind, namely the obstacles cannot be sensed a priori. Therefore, the presence of possible accidental contacts with the surrounding environment has to be taken into account. To maintain stability in such a complex scenario, mechanics, and control are co-designed. The proposed control strategy relies on some mechanical properties of the airframe, namely on the relative position of the contact points and of the onboard actuators, and on the design of a supervisor able to detect the presence of a contact only by observing the behavior of the flight control loop. The effectiveness of the obtained results is then demonstrated using experiments conducted on a ducted-fan prototype.

 

Existing System

Proposed System

Ø  Traffic and accident is control by manual.

Ø  Constant speed limit.

Ø  Hand signal  to for near vehicle .

 

Drawbacks of existing system

Ø  The manual work is needed.

Ø  It is more time consumption.

Ø  Vehicles have to stop in a queue so that traffic may occur.

Ø  Because of the payment is by cash there is a chance for corruption.

 

Ø  Automated Traffic avoidance of traffic and major accident in the crowded area and emergency section.

Ø  PIRis used to speed limit

Ø  Based on near vehicle it choose the route.

Advantages of proposed system

Ø  The whole process is automation.

Ø  As vehicles don’t have to stop in a queue, it assures time saving,

Ø  Using smart card, there is no chance of corruption
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