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Autonomous control and target tracking algorithm design for a quadrotor
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2017 (English)In: 2017 36th Chinese Control Conference (CCC), IEEE Computer Society, 2017, p. 6749-6754, article id 8028422Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, the task of Mission 7 of International Aerial Robotics Competition (IARC) is investigated. The quadrotor is required to autonomously navigate in a GPS-denied environment, and accomplish physical interaction with ground moving targets. In order to estimate the position of the quadrotor, a multi-sensor-compensation based method is designed and individual measurement errors are compensated. Also an extended Kalman filer (EKF) is utilized for attitude estimation. To accomplish the target tracking task, a path planning algorithm is designed under the constraints of quadrotor dynamics, and consecutive waypoint setpoints are generated. Then lower-level cascaded PID controllers are adopted to track the command waypoint. Finally, simulation and experimental results show the effectiveness and feasibility of the proposed methods.

Place, publisher, year, edition, pages
IEEE Computer Society, 2017. p. 6749-6754, article id 8028422
Series
Chinese Control Conference, CCC, ISSN 1934-1768
Keywords [en]
Quadrotor control, state estimation, target tracking
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-217585DOI: 10.23919/ChiCC.2017.8028422ISI: 000432015500147Scopus ID: 2-s2.0-85032230241ISBN: 9789881563934 (print)OAI: oai:DiVA.org:kth-217585DiVA, id: diva2:1157102
Conference
36th Chinese Control Conference, CCC 2017, Dalian, China, 26 July 2017 through 28 July 2017
Note

QC 20171115

Available from: 2017-11-15 Created: 2017-11-15 Last updated: 2018-06-14Bibliographically approved

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf