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Autonomous navigation control for quadrotors in trajectories tracking

Author
Aguilar, W.; Angulo, C.; Costa-Castelló, R.
Type of activity
Presentation of work at congresses
Name of edition
10th International Conference on Intelligent Robotics and Applications
Date of publication
2017
Presentation's date
2017-08
Book of congress proceedings
Lecture Notes in Computer Science, vol. 10464
First page
287
Last page
297
DOI
https://doi.org/10.1007/978-3-319-65298-6_27 Open in new window
URL
https://link.springer.com/chapter/10.1007/978-3-319-65298-6_27 Open in new window
Abstract
In this paper, we describes a novel proposal for the autonomous navigation control of quadrotor micro aerial vehicles for trajectories tracking in the XY plane. The quadrotor vehicle is an AR.Drone 1.0 from the company Parrot with a nonlinear behavior. The proposal includes system modeling, controller design, planning and simulation of the results. In our approach, we separate the model into two primary models: A linearity for the steady state and a nonlinearity for the dynamic transition.
Keywords
Automatic control, Motion planning, Quadrotor, Systems identification and modeling
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
GREC - Knowledge Engineering Research Group
IDEAI-UPC - Intelligent Data Science and Artificial Intelligence Research Center
SAC - Advanced Control Systems

Participants