Quadrotor UAV Path Following using Trajectory Shaping

This research proposes to adapt the concept of trajectory shaping guidance law on a quadrotor to follow several different predefined, compact paths. Keeping the real world nonlinearities, sensor and process noise in mind, the technique is simulated using MATLAB-Simulink. This guidance concept is imp...

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Main Author:	Mehrok, Parwinder Singh
Format:	Others
Published:	DigitalCommons@USU 2016
Subjects:	Aerospace Engineering Mechanical Engineering
Online Access:	https://digitalcommons.usu.edu/etd/4997 https://digitalcommons.usu.edu/cgi/viewcontent.cgi?article=6035&context=etd

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record_format	oai_dc
spelling	ndltd-UTAHS-oai-digitalcommons.usu.edu-etd-60352019-10-13T05:46:24Z Quadrotor UAV Path Following using Trajectory Shaping Mehrok, Parwinder Singh This research proposes to adapt the concept of trajectory shaping guidance law on a quadrotor to follow several different predefined, compact paths. Keeping the real world nonlinearities, sensor and process noise in mind, the technique is simulated using MATLAB-Simulink. This guidance concept is implemented on a real, custom built quadrotor for which a new testing platform was developed from the ground up. Also, the results obtained from the trajectory shaping concept are compared to the performance characteristics of another path following concept called differential flatness. In addition to this, root mean square of position error data is used to compare the vehicle convergence to the desired trajectory. 2016-05-01T07:00:00Z text application/pdf https://digitalcommons.usu.edu/etd/4997 https://digitalcommons.usu.edu/cgi/viewcontent.cgi?article=6035&context=etd Copyright for this work is held by the author. Transmission or reproduction of materials protected by copyright beyond that allowed by fair use requires the written permission of the copyright owners. Works not in the public domain cannot be commercially exploited without permission of the copyright owner. Responsibility for any use rests exclusively with the user. For more information contact digitalcommons@usu.edu. All Graduate Theses and Dissertations DigitalCommons@USU Aerospace Engineering Mechanical Engineering
collection	NDLTD
format	Others
sources	NDLTD
topic	Aerospace Engineering Mechanical Engineering
spellingShingle	Aerospace Engineering Mechanical Engineering Mehrok, Parwinder Singh Quadrotor UAV Path Following using Trajectory Shaping
description	This research proposes to adapt the concept of trajectory shaping guidance law on a quadrotor to follow several different predefined, compact paths. Keeping the real world nonlinearities, sensor and process noise in mind, the technique is simulated using MATLAB-Simulink. This guidance concept is implemented on a real, custom built quadrotor for which a new testing platform was developed from the ground up. Also, the results obtained from the trajectory shaping concept are compared to the performance characteristics of another path following concept called differential flatness. In addition to this, root mean square of position error data is used to compare the vehicle convergence to the desired trajectory.
author	Mehrok, Parwinder Singh
author_facet	Mehrok, Parwinder Singh
author_sort	Mehrok, Parwinder Singh
title	Quadrotor UAV Path Following using Trajectory Shaping
title_short	Quadrotor UAV Path Following using Trajectory Shaping
title_full	Quadrotor UAV Path Following using Trajectory Shaping
title_fullStr	Quadrotor UAV Path Following using Trajectory Shaping
title_full_unstemmed	Quadrotor UAV Path Following using Trajectory Shaping
title_sort	quadrotor uav path following using trajectory shaping
publisher	DigitalCommons@USU
publishDate	2016
url	https://digitalcommons.usu.edu/etd/4997 https://digitalcommons.usu.edu/cgi/viewcontent.cgi?article=6035&context=etd
work_keys_str_mv	AT mehrokparwindersingh quadrotoruavpathfollowingusingtrajectoryshaping
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Quadrotor UAV Path Following using Trajectory Shaping

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