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Autonomous Navigation Control for Quadrotors in Trajectories Tracking

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10464))

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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.

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Acknowledgement

This work is part of the projects VisualNavDrone 2016-PIC-024 and MultiNavCar 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar. A special thanks to the Automation Spanish Committee CEA for providing original data from the AR.Drone 1.0.

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Authors and Affiliations

  1. Dep. DECEM, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar

  2. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar

  3. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar & Cecilio Angulo

  4. IOC Research Institute, Universitat Politècnica de Catalunya, Barcelona, Spain

    Ramón Costa-Castello

Authors
  1. Wilbert G. Aguilar
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  2. Cecilio Angulo
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  3. Ramón Costa-Castello
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Aguilar, W.G., Angulo, C., Costa-Castello, R. (2017). Autonomous Navigation Control for Quadrotors in Trajectories Tracking. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_27

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  • DOI: https://doi.org/10.1007/978-3-319-65298-6_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65297-9

  • Online ISBN: 978-3-319-65298-6

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