3D Path Planning and Trajectory Tracking for Multirotor UAV in Indoor scenario

Motion control theory, based on the combination of guidance and control algorithms, is proposed in this research for multirotor Unmanned Aerial Vehicles (UAVs) in indoor scenarios. Bezier parametric curves are selected as candidates for the  ́ trajectory definition, since these curves are characterized by low computational cost and large flexibility. The trajectory tracking is performed with two different control approaches: (i) a robust Proportional Integrative Derivative (PID) control system and (ii) a Sliding Mode controller. According to the proposed techniques, computationally affordable algorithms are designed and tested by simulations and validated with experimental flights.