Trajectory Generation and Control of Quadrotor
Published:
This project is related to the trajectory generation and control of a quadrotor. For the part of trajectory generation, we implemented B-spline interpolation algorithm with maximum velocity at each point for path tracking. We also improved another state-to-state algorithm [1] for quadrotor trajectory generation between two points. For the part of control, we designed multiple controllers for different functions. Fig. 1 shows the whole framework, which is also a combination of trajectory generation and control. Fig.2 presents the dynamic model of a quadrotor mathematically. Fig.3-Fig.6 are the designed flight controllers for different functions.
Fig.1 The Whole Framework
Fig.2 Dynamic Model of Quadrotor
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Fig.3 Geometric tracking controller with Head Direction
Fig.4 Attitude Controller with Height
Fig.5 Attitude Controller with Thrust
Fig.6 Mixed Controller Based on State-to-state Algorithm
A series of experiments are performed on Airsim and Matlab to validate the reliablity and feasibility of the proposed methods. Fig.7-Fig.10 displays the experimental results.
Fig.7 Circumventing Two Columns in a Sinusoidal Trajectory
Fig.8 Quadrotor Passing Two Circles
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Fig.9 Quadrotor Passing a Window by Tilting
Fig.10 Fully Actuated Hexarotor
Besides, we also performed experiments on a real flight controller system based on an open-sourced flight controller PX4. The control framework is shown in Fig.11. In Fig.12, the quadrotor followed the manipulator automatically through his GPS.
Fig.11 The Control Scheme between PX4 and Raspberry Pi 2B
Fig.12 Automatically Following the Manipulator
Reference
[1] Mueller, M. W, M. Hehn, and R. D’Andrea. “A computationally efficient algorithm for state-to-state quadrocopter trajectory generation and feasibility verification.” Ieee/rsj International Conference on Intelligent Robots and Systems IEEE, 2013:3480-3486.
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