Simulation of optic flow based flight control for a flapping wing micro aerial vehicle

Bio-inspired flying micro drones, formally known as Flapping Wing Micro Aerial Vehicles (FWMAV) are a booming class of robots in today's world. Navigation and flight control of these drones is an interesting area of research that has become popular among roboticists and engineers due to its challenges. A bio-inspired optic flow based flight control system for FWMAV using six optic sensor was proposed earlier. However, there is not enough evidence to validate the control methodology discussed. This thesis presents a validation in the form of a flight simulator to test the optic flow based control strategy. The simulator consists of functional modules such as a kinematic module to generate the motion of the FWMAV based on inertia, external forces and torques, an optic sensor system module to generate the optic flow as perceived by the six optic sensor configuration, a flying environment to test the flight of the FWMAV and an optic flow based controller module to stabilise the aircraft in three dimensional space. Simulation results show that the optic flow based controller can successfully stabilise the FWMAV under normal flying conditions.

Subject

FWMAV
MAV
Optic flow
Flight control

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Student theses

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master thesis

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ASelvan_Thesis.pdf

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