Trajectory generation with piecewise constant acceleration and tracking control of a quadcopter

Abstract

This paper describes a 3D reference trajectory generation and tracking control method for a quadcopter. The flying trajectory is a piecewise curve that passes through viapoints at specified times or speeds and has constant acceleration within each interval. The path is first represented as the third degree polynomials, and to overcome demerits of the C-splines, a numeric algorithm is suggested and implemented. The feasibility of the generated trajectory is checked by nonlinear dynamics model of a quadcopter. After executing several flying experiments for a quadcopter, tracking errors are evaluated.

Implementation of MUAV as reference source for GLAO systems

“…For tilted trajectories with a constant radius, their inclination angle will depend on the apparent position of the astronomical object of interest. Jang et al (2015) proved the capability of the quadcopters to follow this type of trajectories in specific times or specific speeds. They reported maximum experimental errors of 13 cm for a horizontal circular trajectory.…”

A White-Noise-on-Jerk Motion Prior for Continuous-Time Trajectory Estimation on <italic>SE(3)</italic>

“…While various motion estimation methods have made assumptions with the trajectory being constant-velocity [18], [7], [8], [19], [20], a constant-acceleration trajectory assumption has been used for tracking control [21], manipulator motion planning [22], and manipulator state estimation [23]. To the best of our knowledge, the derivation we present in this paper is the first attempt at modelling the trajectory as constantacceleration mean (white-noise-on-jerk) in the context of continuous-time trajectory estimation on SE(3).…”

“…We start from the same interpolation equation using local state variables (21). For the WNOJ prior, the interpolation coefficients Λ(τ ) and Ω(τ ) can be computed from (22), using Φ ∈ R 18×18 and Q i ∈ R 18×18 from (30) and (31).…”

Farkli Uçuş Durumlari Için Quadcopter Dinamik Modeli ve Simulasyonu

“…In the study of Jong and Lyou's [13], they applied the PID algorithm for quadrotor hover and tacking. They have also been tested in real time and have determined the stady state error for the hover to be 8 cm at the maximum z-axis and 7 cm at the X and Y axes.…”