L T P C

15AS421E AERIAL ROBOTICS

3 0 0 3
Co-requisite: Nil
Prerequisite: Nil
Data Book /
Nil
Codes/Standards
Course Category P Professional Elective Avionics
Course designed by Department of Aerospace Engineering
Approval Academic Council Meeting, 23rd July 2016

PURPOSE To improve the student's ability to understand the concepts of unmanned aircraft modeling,
state estimation, control and basics of motion planning.
INSTRUCTIONAL OBJECTIVES STUDENT
OUTCOMES
At the end of the course, student will be able to
1. Understand the kinematics and dynamics of fixed wing unmanned aerial a e
vehicle
2. Understand the kinematics and dynamics of multirotor micro aerial vehicle. a e
3. State estimation of aerospace vehicle a e
4. Design flight controls of aerospace vehicle a e
5. Motion planning of aerospace vehicle a e

C-
Session Description of Topic Contact
D- IOs Reference
hours
I-O
UNIT I-KINEMATICS AND DYNAMICS OF Fixed 9
Wing Unmanned Aerial Vehicle
1. Introduction- Aerial Robot- Modeling and Dynamics 3 C,D 1 1-2
Formulation
2. Frame Rotations and Representations-Euler angles-
3 C,D 1 1-2
Quaternion
3. Dynamics of a Fixed-Wing Unmanned Aerial Vehicle 3 C,D 1 1-2
UNIT II- KINEMATICS AND DYNAMICS OF 9
Multirotor Micro Aerial Vehicle(MMAV)

4. Propeller Theory-Thrust and Drag moment 3 2 1-2-4

C

5. Dynamics of a Multirotor Micro Aerial Vehicle(MMAV) 4 C,D 2 1-2-4

6. Mathematical modeling of Multirotor Micro Aerial

2 C,D 2 1-2-4
Vehicle(MMAV)
UNIT III- STATE ESTIMATION 9

7. Navigational Sensors-Inertial Sensors-Magnetometer-

3 C 3 1-2
Pressure Sensor
8. GPS-Camera based Navigation-Kalman Filter-Position and
3 C,D 3 1-2
velocity analysis

9. Inertial Navigation Systems-Attitude estimation.

3 C,D 3 1-2
 UNIT IV- FLIGHT CONTROLS 9

10. PID Control–Lateral control of MMAV using PID 3 C 3 1-2

11. LQR Control–Design of LQR servo control in MATLAB 3 C 3 1-2

12. Linear Model Predictive Control-Design and Implementation 3 C,D 3 1-2

of a Linear MPC for MMAV

UNIT-V MOTION PLANNING 9

13. Holonomic Vehicle Boundary Value Solver 3 C 4 1-2-3

Dubins Airplane model Boundary Value Solver- Collision-

14. 3 C 4 1-2-3
free Navigation
15. Structural Inspection Path Planning 3 C,D 4 1-2-3

Total contact hours* 45

*Excluding Assessment hours

LEARNING RESOURCES
Sl.
TEXT BOOKS
No.
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.
REFERENCE BOOKS/OTHER READING MATERIAL
3. L.R. Newcome., Unmanned Aviation, a Brief History of Unmanned Aerial Vehicles, American
Institute of Aeronautics and Astronautics, Reston 2004.
4. Kuo, B.C., Automatic Control Systems, Prentice Hall, 1991.

Course nature Theory

Assessment Method (Weightage 100%)
In- Assessment tool Cycle test I Cycle test II Cycle Test III Surprise Test Quiz Total
semester Weightage 10% 15% 15% 5% 5% 50%
End semester examination Weightage : 50%