Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and Electrical) (MIMSE-M-E-I-2022)

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Design Quadcopter Automatic Control System for Obstacle Avoidance Using Linear Quadratic Regulator (LQR) with LiDAR Sensor

Authors
Purwadi Agus Darwito1, *, Muhammad Tabayyun Yudhistira1, Hermawan Nugroho2, Totok Ruki Biyanto1
1Department of Engineering Physics, Sepuluh Nopember Institute of Technology Surabaya, Surabaya, Indonesia
2Department of Electrical and Electronic Engineering, University of Nottingham Malaysia Selangor, Semenyih, Malaysia
*Corresponding author. Email: padarwito@ep.its.ac.id
Corresponding Author
Purwadi Agus Darwito
Available Online 26 December 2022.
DOI
10.2991/978-94-6463-078-7_21How to use a DOI?
Keywords
quadcopter; linear quadratic regulator; obstacle avoidance
Abstract

Unmanned Aerial Vehicle (UAV) Quadcopter has many functions and uses as logistics transportation with the advantages of transportability efficiency as a means of air transportation. Barriers to UAVs in carrying out their functions as air transportation are obstacles. UAV requires an automatic control system that can fly following the trajectory, detect and avoid obstacles. The obstacle avoidance control system in this study uses the Linear Quadratic Regulator (LQR) method with a LiDAR sensor. The point cloud method in LiDAR acts as a determinant of obstacle avoidance decisions. The 6 DOF UAV control system using LQR control method with LiDAR sensor has been well designed. The quadcopter UAV can fly following the trajectory and detect and avoid obstacles autonomously by means of simulations in Matlab software. The results of the simulation state that the quadcopter control system can fly following the trajectory, also detect and avoid obstacles with the LiDAR sensor as an obstacle detecting sensor, where the avoidance path is formed due to the new coordinates obtained from the avoidance algorithm.

Copyright
© 2023 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and Electrical) (MIMSE-M-E-I-2022)
Series
Advances in Engineering Research
Publication Date
26 December 2022
ISBN
10.2991/978-94-6463-078-7_21
ISSN
2352-5401
DOI
10.2991/978-94-6463-078-7_21How to use a DOI?
Copyright
© 2023 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Purwadi Agus Darwito
AU  - Muhammad Tabayyun Yudhistira
AU  - Hermawan Nugroho
AU  - Totok Ruki Biyanto
PY  - 2022
DA  - 2022/12/26
TI  - Design Quadcopter Automatic Control System for Obstacle Avoidance Using Linear Quadratic Regulator (LQR) with LiDAR Sensor
BT  - Proceedings of the First Mandalika International Multi-Conference on Science and Engineering 2022, MIMSE 2022 (Mechanical and Electrical) (MIMSE-M-E-I-2022)
PB  - Atlantis Press
SP  - 193
EP  - 206
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-078-7_21
DO  - 10.2991/978-94-6463-078-7_21
ID  - Darwito2022
ER  -