Proceedings ArticleDOI
Design, trajectory generation and control of quadrotor research platform
Durgesh Haribhau Salunkhe,Siddhant Sharma,Sujal Amrit Topno,Chandana Darapaneni,Amol Kankane,Suril V. Shah +5 more
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TLDR
In this article, the authors describe the modeling, estimation and control of a quadrotor in 3D environment using the 3DR Pixhawk PX4 as controller through Robot Operating System (ROS).Abstract:
We describe the modeling, estimation and control of a quadrotor in 3D environment using the 3DR Pixhawk PX4 as controller through Robot Operating System(ROS) The paper discusses a method to measure moment of inertia of quadrotor about its principal axes to achieve better results in an inexpensive way We also present the trajectory generation and segment optimization of the trajectory commanded to the quadrotor We describe a method of controlling the quadrotor through ROS by providing necessary inputs to the flight controller using the built-in firmwareread more
Citations
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Journal ArticleDOI
PX4 Simulation Results of a Quadcopter with a Disturbance-Observer-Based and PSO-Optimized Sliding Mode Surface Controller
Yu Jing,Xiang-Can Wang,Juan Heredia-Juesas,Charles Fortner,Christopher Giacomo,Rifat Sipahi,Jose A. Martinez-Lorenzo +6 more
TL;DR: In this paper , a disturbance-observer-based nonlinear sliding mode surface controller (SMC) was designed and validated using a simulated PX4-conducted quadcopter.
References
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Proceedings ArticleDOI
Minimum snap trajectory generation and control for quadrotors
Daniel Mellinger,Vijay Kumar +1 more
TL;DR: An algorithm is developed that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs.
Proceedings ArticleDOI
Autonomous multi-floor indoor navigation with a computationally constrained MAV
TL;DR: This paper addresses multi-floor mapping with loop closure, localization, planning, and autonomous control, including adaptation to aerodynamic effects during traversal through spaces with low vertical clearance or strong external disturbances.
Proceedings ArticleDOI
PIXHAWK: A system for autonomous flight using onboard computer vision
TL;DR: Experimental results show successful flight with a range of onboard computer vision algorithms, including localization, obstacle avoidance and pattern recognition, with a novel hardware and software system for micro air vehicles.
Proceedings ArticleDOI
Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor
TL;DR: A fully-functional, integrated system with a focus on robust visual-inertial state estimation is described, and the quadrotor’s ability to autonomously travel at speeds up to 4 m/s and roll and pitch angles exceeding 20◦ is demonstrated.
Proceedings ArticleDOI
A mode-switching path planner for UAV-assisted search and rescue
Allison Ryan,J.K. Hedrick +1 more
TL;DR: A feasible path planning algorithm combined with an off the shelf autopilot system is proposed and it is shown that any execution of the system causes the series {L(k)} to converge to zero, thereby resulting in satisfactory tracking.
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