Open AccessStudy and Simulation of Autonomous Quadrotor Tracking a Pre-Defined Trajectory Using Matlab
Author(s) -
Jegadheesan Chinnasamy,
Somasundaram Periasamy,
Ajit Pal Singh,
S. Mohanesh,
R. Manikandan,
L. Gokul,
Sangamesh R. Deepak
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1055/1/012045
Subject(s) - waypoint , trajectory , pid controller , drone , controller (irrigation) , control theory (sociology) , computer science , mobile robot , matlab , control engineering , tracking (education) , position (finance) , agile software development , robot , engineering , simulation , control (management) , real time computing , artificial intelligence , pedagogy , temperature control , biology , genetics , operating system , psychology , agronomy , physics , finance , astronomy , economics , software engineering
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.