Two-layer saturated PID controller for the trajectory tracking of a quadrotor UAV

Ollervides-Vazquez, Edmundo Javier; Rojo-Rodriguez, Erik G.; Rojo-Rodriguez, E. U.; Cabriales-Ramirez, Luis E.; Garcia‐Salazar, Octavio

doi:10.1109/icmeae51770.2020.00022

Cited by 6 publications

(2 citation statements)

References 15 publications

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“…In this subsection the simulations are carried out to validate the proposed algorithm a numerical validation of the trajectories generated with GA and high-order polynomials. The UAV used to obtain the model is a miniquadrotor that is part of a fleet of aerial vehicles developed in the at CIIIA-FIME-UANL [17]. In the Table I the numerical values of the model parameters are shown.…”

Section: B Simulationmentioning

confidence: 99%

Genetic algorithm for path planning of UAVs as a maze-solving problem

Gutierrez-Martinez

Cabriales-Ramirez

Rojo-Rodriguez

et al. 2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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This research work addresses the problem of path planning for unmanned aerial vehicles (UAVs) in complex environments such as a maze. A genetic algorithm (GA) with variable chromosomes and gene change conditions is designed when the decision point criteria and a collision with a wall are presented; without considering large chromosomes. Our proposed GA obtains the sequence of minimum movements required to solve the maze. Then, the trajectories are generated by high-order polynomials. Finally, numerical simulations and real-time tests are carried out to validate the proposed algorithm.

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Section: B Simulationmentioning

confidence: 99%

Genetic algorithm for path planning of UAVs as a maze-solving problem

Gutierrez-Martinez

Cabriales-Ramirez

Rojo-Rodriguez

et al. 2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…These first two layers are designed as saturated Proportional Integral Derivative (PID) controllers. For the in-detail development of these loops, see the previous work on [21].…”

Section: Navigation Based On a Consensus Protocolmentioning

confidence: 99%

Obstacle-aware UAV navigation based on a leader-follower consensus protocol

Rojo-Rodriguez

Ollervides-Vazquez

et al. 2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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This work aims to present a navigation scheme whose topmost layer further considers the presence of obstacles and steers the aircraft towards a safe path by altering its navigation references. The complete framework is divided into two control layers carrying out the orientation and navigation, while a third obstacle-aware layer, which is based on a Virtual Leader-Follower coordination problem, generates the positioning references for the navigation controller. This outline allows designing the inner control layers independently, without obstacle awareness, giving flexibility to different combinations of UAVs and controller laws. To validate the proposed structure, numerical simulations are performed where moving obstacles are considered. In addition, experimental testing is carried out by implementing the three-layer navigation in a quadrotor aircraft, performing an independent trajectory while in the presence of a static obstacle. Both tests show acceptable results, and the obstacle collision avoidance is reached.

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UAV Target Tracking Method Based on Deep Reinforcement Learning

Zhang

et al. 2022

2022 International Conference on Cyber-Physical Social Intelligence (ICCSI)

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Two-layer saturated PID controller for the trajectory tracking of a quadrotor UAV

Cited by 6 publications

References 15 publications

Genetic algorithm for path planning of UAVs as a maze-solving problem

Genetic algorithm for path planning of UAVs as a maze-solving problem

Obstacle-aware UAV navigation based on a leader-follower consensus protocol

UAV Target Tracking Method Based on Deep Reinforcement Learning

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