Design Quadcopter Automatic Control System for Obstacle Avoidance Using Linear Quadratic Regulator (LQR) with LiDAR Sensor
Purwadi Agus Darwito, Muhammad Tabayyun Yudhistira, Hermawan Nugroho, Totok Ruki Biyanto · 2022
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.