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 \u0301 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.
", "publication_date": "2019-10-18", "publisher": "Zenodo", "resource_type": { "id": "poster", "title": { "de": "Poster", "en": "Poster" } }, "rights": [ { "description": { "en": "The Creative Commons Attribution license allows re-distribution and re-use of a licensed work on the condition that the creator is appropriately credited." }, "icon": "cc-by-icon", "id": "cc-by-4.0", "props": { "scheme": "spdx", "url": "https://creativecommons.org/licenses/by/4.0/legalcode" }, "title": { "en": "Creative Commons Attribution 4.0 International" } } ], "subjects": [ { "subject": "Indoor flight" }, { "subject": "Sliding Mode Controller" }, { "subject": "Bezier curves" } ], "title": "3D Path Planning and Trajectory Tracking for Multirotor UAV in Indoor scenario" }, "parent": { "access": { "owned_by": { "user": "219088" } }, "communities": { "default": "327fb1eb-a048-4080-a1ef-3c38f5db397d", "entries": [ { "access": { "member_policy": "open", "members_visibility": "public", "record_submission_policy": "open", "review_policy": "open", "visibility": "public" }, "children": { "allow": false }, "created": "2021-05-23T12:08:40.765220+00:00", "custom_fields": {}, "deletion_status": { "is_deleted": false, "status": "P" }, "id": "327fb1eb-a048-4080-a1ef-3c38f5db397d", "links": {}, "metadata": { "curation_policy": "", "page": "I-RIM, the Institute for Robotics and Intelligent Machines, aims to favor the development and practice of Robotics and Intelligent Machines technologies to improve citizens quality of life and well-being and enhance society conditions, through the development of new solutions for helping people, improving working conditions, transferring applications and economic enhancement of research. I-RIM is an institute created to offer a national organizational reference for its members and stakeholders, and to interact with public institutions on the topics of Robotics and Intelligent Machines.
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