Study and Simulation of Autonomous Quadrotor Tracking a Pre-Defined Trajectory Using Matlab. Issue 1 (February 2021)

• Record Type: Journal Article
• Authors: Chinnasamy, Jegadheesan; Periasamy, Somasundaram; Singh, Ajit Pal; Mohanesh, S; Manikandan, R; Gokul, L; Deepak, S
• Is Part Of: IOP conference series. Volume 1055:Issue 1(2021)
• Publication Date: 2021-02
• Subjects: Autonomous -- Controller -- Minimum snap -- PID -- Quadrotors -- Trajectory; Materials science -- Periodicals; 620.1105
• DOI: 10.1088/1757-899X/1055/1/012045
• Languages: English
• ISSNs: 1757-8981

Abstract

Abstract: The automated airborne vehicle (UAV) is an airplane that is worked without a human pilot. It was controlled either by the controller of a pilot or self-governingly by locally available PCs on the ground or in another vehicle. Modern Quadrotors are evolving than the old designs into a small agile vehicle. The quadrotor is increasingly becoming more and more popular, there is an increasing need for making this vehicle autonomous. The Methods for developing autonomous unmanned aerial vehicles has been an active area of research under the mobile platform. There are many commercially available drone platforms but all of them are required user interaction through a controller. In this work, we have created a control algorithm and trajectory generation for a smooth minimum snap trajectory through the given waypoints. Each waypoint specifies the desired position velocity, yaw, pitch, and roll angles. Such waypoints generated by our algorithm generate a smooth minimum snap trajectory between these waypoints. A PID controller is used to control the motions of the quadrotor in all planes.