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Conference object . 2019
License: CC BY
Data sources: Datacite
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Other literature type . 2019
License: CC BY
Data sources: ZENODO
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ZENODO
Conference object . 2019
License: CC BY
Data sources: Datacite
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3D Path Planning and Trajectory Tracking for Multirotor UAV in Indoor scenario

descriptionPublicationkeyboard_double_arrow_right Conference object , Other literature type 18 Oct 2019Publisher:Zenodo
Authors: Capello, Elisa; Sartori, Daniele; Guglieri, Giorgio; Wenxian Yu;

doi: 10.5281/zenodo.4811064 , 10.5281/zenodo.4811063

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

Abstract

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.

https://youtu.be/Cq2iK6wou7E

Keywords

Bezier curves, Indoor flight, Sliding Mode Controller

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This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
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influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
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