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Navigation and Cooperative Control Using the AR.Drone Quadrotor

机译：使用AR.Drone四旋翼飞机进行导航和协同控制

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摘要

This paper presents a computational system designed to perform autonomous indoor flights using low-cost equipment. Depending on the mission to be accomplished, one or two Parrot AR.Drone 2.0 quadrotors are supposed to fly in a three-dimensional workspace, guided by the navigation algorithms embedded in the proposed framework, which runs in a ground control computer. The tasks addressed involve positioning, trajectory tracking and leader-follower formation control. The key techniques required to solve such problems are reported in topics, including the mathematic modelling of the quadrotor, a model-based nonlinear flight controller and a state estimation strategy for sensory data fusion. The framework embeds the last two subsystems just mentioned, plus a communication link between the ground computer and the aircraft, to read the sensory data and to send the control signals necessary to guide the vehicle. Some experimental results are also presented and discussed, which allow concluding that the proposed methods are efficient in accomplishing the tasks addressed.
机译：本文提出了一种计算系统，旨在使用低成本设备进行自主的室内飞行。根据要完成的任务，一台或两台Parrot AR.Drone 2.0四旋翼飞机应该在三维工作空间中飞行，并以该框架中嵌入的导航算法为指导，该算法在地面控制计算机中运行。解决的任务包括定位，轨迹跟踪和跟随者编队控制。解决这些问题所需的关键技术已在主题中进行了报道，包括四旋翼的数学建模，基于模型的非线性飞行控制器以及用于感知数据融合的状态估计策略。该框架嵌入了刚刚提到的最后两个子系统，以及地面计算机和飞机之间的通信链接，以读取感官数据并发送引导车辆所需的控制信号。还提供了一些实验结果并进行了讨论，可以得出结论：所提出的方法可以有效地完成所提出的任务。

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