Geração de Trajetória para VANT com Resultados Experimentais

Authors

  • Wenderson Gustavo Serrantola Departamento de Engenharia Elétrica, COPPE - Universidade Federal do Rio de Janeiro, Rio de Janeiro, RJ
  • Fernando Lizarralde Departamento de Engenharia Elétrica, COPPE - Universidade Federal do Rio de Janeiro, Rio de Janeiro, RJ
  • Alessandro Jacoud Peixoto Departamento de Engenharia Elétrica, COPPE - Universidade Federal do Rio de Janeiro, Rio de Janeiro, RJ

DOI:

https://doi.org/10.20906/CBA2022/3590

Keywords:

Trajectory Generation, Trajectory Tracking, UAV PI Control, Parametric Differentiable Curves

Abstract

This paper proposes a new approach for generating smooth trajectories for unmanned aerial vehicles (UAVs or drones) that can be executed in real time with limited processing embedded hardware. The objective is to perform autonomous aerial image acquisition, ensuring repeatability. In addition, a state feedback control law based on previously identified commercial hexacopter nominal parameters, with integral and feedforward actions was implemented and validated for trajectory tracking in the presence of wind disturbances, in a real and simulated environment.

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Published

2022-10-19

Issue

Vol. 3 No. 1 (2022): CBA2022

Section

Articles