Experimental Validation of a Trajectory Tracking Control using the AR.Drone Quadrotor

Ícaro Bezerra Viana¹; Luiz Manoel Santos Santana¹; Raphael Ballet¹; Davi Antônio dos Santos¹; Luiz Carlos Sandoval Góes¹

¹ ITA - Instituto Tecnológico de Aeronáutica

doi:10.20906/CPS/CON-2016-1444

Resumo

In this paper, we describe a hardware-in-the-loop (HIL) architecture to validate a position control for a multirotor helicopter in indoor environment. For the implementation of the proposed architecture, it is used two central computers: one dedicated to design the execution of the position control, and the another is dedicated to determine the localization of the vehicle. The proposed system separate the whole position control into an altitude and a horizontal control. To estimate the horizontal position and velocity of the multirotor, we use a static Kinect for Windows sensor fixed on the ceiling and pointing downwards, while the altitude estimation is provided by the ultrasonic sensor embedded in the vehicle. Experimental results using the low-cost quadrotor AR.Drone 2.0 validate the position control along a circular trajectory as well as a hovering flight test subject to disturbances is evaluated.

Palavras-chave: Aerial Robotics; AR.Drone Quadrotor; Position Control; Hardware-in-the-Loop