Trajectory planning for an unmanned quadrotor.
Date
2016
Journal Title
Journal ISSN
Volume Title
Publisher
Universidad Tecnológica Nacional Regional Córdoba.
Abstract
. The quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range
of application fields, inspection in harvesting environments, surveillance, cinematographic filmation,
among others. Most of these applications are easily achieved if a set of predefined programmed trajecto ries or tasks are selected from a database of automatic tasks safety performed inside the limit cycle and
compatible with actuators bounds. This paper presents two controllers that simultaneously coordinates
the position and orientation motions of a quadrotor. The first controller is based on Euler angles and the
second on quaternions. The equations of motion for the quadrotor are computed and simulated using Euler
angles by means of a first-order reduction of the nonlinear Newton-Euler equations. This simulator of the
plant is used to supply the observed state to simulate both controllers. The generation of trajec- tories
with bounded derivatives on the velocities is used to provide continuous actions on the actuators and
also prevent their saturation, enabling the minimization of trajectory tracking errors and reducing or
avoiding the overshooting. Finally, the simulation for three kinematic tasks, a circle, a 8-shape, and a
square trajectory are shown to test the controller behaviors and adjust their gains.
Description
Keywords
Quadrotors, Newton-Euler dynamics, Euler angles, Quaternions, Nonlinear Control, Trajectory generation
Citation
Mecánica Computacional Vol XXXIV.
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