NDLI: Navigation and Cooperative Control Using the AR.Drone Quadrotor

Content Provider	Springer Nature Link
Author	Santana, Lucas Vago Brandão, Alexandre Santos Sarcinelli Filho, Mário
Copyright Year	2016
Abstract	This paper presents a computational system designed to perform autonomous indoor flights using low-cost equipment. Depending on the mission to be accomplished, one or two Parrot AR.Drone 2.0 quadrotors are supposed to fly in a three-dimensional workspace, guided by the navigation algorithms embedded in the proposed framework, which runs in a ground control computer. The tasks addressed involve positioning, trajectory tracking and leader-follower formation control. The key techniques required to solve such problems are reported in topics, including the mathematic modelling of the quadrotor, a model-based nonlinear flight controller and a state estimation strategy for sensory data fusion. The framework embeds the last two subsystems just mentioned, plus a communication link between the ground computer and the aircraft, to read the sensory data and to send the control signals necessary to guide the vehicle. Some experimental results are also presented and discussed, which allow concluding that the proposed methods are efficient in accomplishing the tasks addressed.
Starting Page	327
Ending Page	350
Page Count	24
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	84
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-02-26
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	AR.Drone UAV Flight control Sate estimation Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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