A Survey of path following control strategies for UAVs focused on quadrotors
The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference position is tracked. The path following approach removes any time dependence of th...
| Autores: | , , |
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| Formato: | artículo |
| Fecha de publicación: | 2019 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/172245 |
| Acesso em linha: | https://hdl.handle.net/2117/172245 https://dx.doi.org/10.1007/s10846-019-01085-z |
| Access Level: | acceso abierto |
| Palavra-chave: | Drone aircraft Robotics Predictive control Unmanned aerial vehicles Trajectory control Path following Avions no tripulats Robòtica Control predictiu Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Resumo: | The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference position is tracked. The path following approach removes any time dependence of the problem, resulting in many advantages on the control performance and design. An exhaustive review of path following algorithms applied to quadrotor vehicles has been carried out, the most relevant are studied in this paper. Then, four of these algorithms have been implemented and compared in a quadrotor simulation platform: Backstepping and Feedback Linearisation control-oriented algorithms and NLGL and Carrot-Chasing geometric algorithms. |
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