Abstract
In this work, a trajectory planning and control system designed for quadrotor unmanned aerial vehicles (UAVs) in automatic field inspection missions is presented. This system controls the UAV by two steps. First, a ground station laptop generates a complete coverage flight path regarding the specific working field. Subsequently, an onboard computer controls the UAV in real-time with position, velocity and acceleration setpoints calculated by a trajectory planning algorithm. The algorithm considers both the dynamic property of quadrotor UAVs and the acceleration and velocity limitations in real working condition. UAV controlled by this system performs a rapid and stable flight in windy environment and can be widely utilised in various domains.
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Chen, G., Wang, R., Dong, W., Sheng, X. (2017). A Trajectory Planning and Control System for Quadrotor Unmanned Aerial Vehicle in Field Inspection Missions. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_50
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DOI: https://doi.org/10.1007/978-3-319-65298-6_50
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