INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
A Trajectory Tracking and 3D Positioning Controller for the AR.Drone Quadrotor
Autor/es:
LUCAS SANTANA; ALEXANDRE S. BRANDAO; MÁRIO SARCINELLI-FILHO; RICARDO CARELLI
Lugar:
Orlando
Reunión:
Conferencia; 2014 International Conference on Unmanned Aircraft Systems (ICUAS); 2014
Institución organizadora:
IEEE
Resumen:
In this paper a complete framework is proposed, to deal with trajectory tracking and positioning with an AR.Drone Parrot quadrotor flying in indoor environments. The system runs in a centralized way, in a computer installed in a ground station, and is based on two main structures,namely a Kalman Filter (KF) to track the 3D position of the vehicle and a nonlinear controller to guide it in the accomplishment of its flight missions. The KF is designed aiming at estimating the states of the vehicle, fusing inertial and visual data. The nonlinear controller is designed with basis on a dynamic model of the AR.Drone, with the closed-loop stability proven using the theory of Lyapunov. Finally, experimental results are presented, which demonstrate the effectiveness of the proposed framework.
