Nonholomic-like Corridor Navigation of a Quad-rotor MAV using Optical Flow

Escareño, Juan; Garcia, L.R.; Chauffaut, Corentin; Santibáñez, Víctor; Lozano, Rogelio

doi:10.3182/20120403-3-de-3010.00071

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“…These abilities are requested for several applications (inspection, indoor navigation, filming, etc.). In [13], a reactive vision-based autonomous navigation, within an indoor corridor, is performed by a quad-rotor. The dynamic model is divided into two parts considering two planes called Q-plane and R-plane using saturated PD controller.…”

Section: Introductionmentioning

confidence: 99%

Quadrotor Guidance-Control for flight like nonholonomic vehicles

Bouzid

Bestaoui

Siguerdidjane

et al. 2018

2018 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper introduces a velocity based guidance strategy for 3D time-prescribed path following. A second alternative, acceleration based guidance law that incorporates an integral action, is proposed to deal with the more adverse environments. The proposed strategy, which is combined with an efficient nonlinear control strategy for under-actuated systems, is applied to a quadrotor. It ensures the convergence toward the reference trajectory and allows the quadrotor to imitate the behavior of a fixed-wing UAV in the plane (non-holonomic like-navigation). The effectiveness of the proposed Guidance & Control (G&C) loop is shown through some numerical simulations.

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Section: Introductionmentioning

confidence: 99%