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