The intelligent flight control of quadrotor in tunnel based on simple sensors

Abstract

This paper studies the automation flight control problem of a quadrotor in the tunnel. The LED lamp belt is installed in the tunnel and two moving points are the tracking target of the quadrotor. The velocity-control-mode is first well done before the tracking control algorithm is considered. A control law is then designed to achieve tracking task in the straight tunnel. When the parameter is properly designed, the quadrotor still can perform tracking task for the moving points even in the bent tunnel. Moreover, we prove that the collision between the quadrotor and the tunnel can be avoided by using the proposed control law. The validity of the proposed control algorithm is also demonstrated through numerical simulations.