Trajectory Generation and Tracking Using the AR.Drone 2.0 Quadcopter UAV

Proceedings - 12th LARS Latin American Robotics Symposium and 3rd SBR Brazilian Robotics Symposium, LARS-SBR 2015 - Part of the Robotics Conferences 2015

Volumn , Issue , 2016, Pages 73-78

  Velez, Pedro ^a   Certad, Novel ^a   Ruiz, Elvis ^a  

^a UNIVERSIDAD SIMÓN BOLÍVAR   (Venezuela)

Author keywords

AR Marker Recognition; AR. Drone; Artificial Potential Fields; Bezier curves; Control; Quadcopter; ROS; Trajectory Generation; Trajectory Tracking

Indexed keywords

ALGORITHMS; CONTROL; DRONES; INTERPOLATION; ROBOTICS; ROBOTS; SOFTWARE TESTING; THREE TERM CONTROL SYSTEMS; TRAJECTORIES;

ARTIFICIAL POTENTIAL FIELDS; BEZIER CURVE; QUADCOPTER; TRAJECTORY GENERATION; TRAJECTORY TRACKING;

UNMANNED AERIAL VEHICLES (UAV);

EID: 84964324520     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/LARS-SBR.2015.33     Document Type: Conference Paper

References (14)

1. P. Pounds, R. Mahony, and P. Corke, "Modelling and control of a quad-rotor robot, " in Proceedings Australasian Conference on Robotics and Automation 2006. Australian Robotics and Automation Association Inc., 2006.
2. S. Bouabdallah, P. Murrieri, and R. Siegwart, "Design and control of an indoor micro quadrotor, " IEEE International Conference on Robotics and Automation ICRA 04, pp. 4393-4398 Vol. 5, 2004.
3. G. Hoffmann, D. Rajnarayan, S. Waslander, D. Dostal, J. S. Jang, and C. Tomlin, "The stanford testbed of autonomous rotorcraft for multi agent control (starmac), " in Digital Avionics Systems Conference. DASC 04. The 23rd, vol. 2, Oct 2004, pp. 12.E.4-121-10 Vol. 2.
4. R. Mahony, V. Kumar, and P. Corke, "Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor, " Robotics Automation Magazine, IEEE, vol. 19, no. 3, pp. 20-32, sept. 2012.
5. Y. Bouktir, M. Haddad, and T. Chettibi, "Trajectory planning for a quadrotor helicopter, " 2008 16th Mediterranean Conference on Control and Automation, pp. 1258-1263, Jun. 2008.
6. A. Chamseddine, T. Li, Y. Zhang, C.-A. Rabbath, and D. Theilliol, "Flatness-based trajectory planning for a quadrotor unmanned aerial vehicle test-bed considering actuator and system constraints, " in American Control Conference (ACC), June 2012, pp. 920-925.
7. G. Hoffmann, S. Waslander, and C. Tomlin, "Quadrotor helicopter trajectory tracking control, " AIAA Guidance, Navigation and Control Conference and Exhibit, pp. 1-14, Aug. 2008.
8. C. L. Castillo, W. Moreno, and K. P. Valavanis, "Unmanned helicopter waypoint trajectory tracking using model predictive control, " 2007 Mediterranean Conference on Control and Automation, Jun. 2007.
9. D. Mellinger, N. Michael, and V. Kumar, "Trajectory generation and control for precise aggressive maneuvers with quadrotors, " The International Journal of Robotics Research, vol. 31, no. 5, pp. 664-674, Jan. 2012.
10. C. Bottasso, D. Leonello, and B. Savini, "Path planning for autonomous vehicles by trajectory smoothing using motion primitives, " Control Systems Technology, IEEE Transactions on, vol. 16, no. 6, pp. 1152-1168, Nov 2008.
11. T. Jiinec, "Stabilization and control of unmanned quadcopter, " Masters thesis, CZECH TECHNICAL UNIVERSITY IN PRAGUE, 2011.
12. J. H. Gallier, Curves and surfaces in geometric modeling: Theory and algorithms. Morgan Kaufmann, 2000.
13. G. E. Farin, Curves and Surfaces for Computer-Aided Geometric Design: A Practical Code, 4th ed. Orlando, FL, USA: Academic Press, Inc., 1996.
14. H. Choset, K. M. Lynch, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations. Cambridge, MA: MIT Press, June 2005.