This paper presents a three-dimensional path follower implementation for an aerial robot based on the carrot-chasing algorithm. The main objective was to improve the performance of the position controller of the PX4 autopilot when following a list of waypoints. This autopilot is widely used in the aerial robotics community, but we needed to improve its performance for navigation in cluttered environments. Different simulations have been carried out under the ROS (Robotic Operating System) environment for the comparison between the position controller of the PX4 and the proposed path follower. In addition, we have implemented different modes to generate the path from the input list of waypoints that are also analyzed in our simulation environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Aerial Robot Path Follower Based on the ‘Carrot Chasing’ Algorithm


    Weitere Titelangaben:

    Advs in Intelligent Syst., Computing


    Beteiligte:
    Silva, Manuel F. (Herausgeber:in) / Luís Lima, José (Herausgeber:in) / Reis, Luís Paulo (Herausgeber:in) / Sanfeliu, Alberto (Herausgeber:in) / Tardioli, Danilo (Herausgeber:in) / Perez-Leon, Hector (Autor:in) / Acevedo, Jose Joaquin (Autor:in) / Millan-Romera, Jose A. (Autor:in) / Castillejo-Calle, Alejandro (Autor:in) / Maza, Ivan (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2019 ; Porto, Portugal November 20, 2019 - November 22, 2019



    Erscheinungsdatum :

    20.11.2019


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    An Aerial Robot Path Follower Based on the 'Carrot Chasing' Algorithm

    Perez-Leon, Hector / Acevedo, Jose Joaquin / Millan-Romera, Jose A. et al. | TIBKAT | 2020


    A 4D trajectory follower based on the ’Carrot chasing’ algorithm for UAS within the U-space context

    Perez-Leon, Hector / Acevedo, Jose Joaquin / Maza, Ivan et al. | IEEE | 2020


    Smart carrot chasing guidance law for path following of unmanned surface vehicles

    Ünal, Osman / Akkaş, Nuri / Atalı, Gökhan et al. | SAGE Publications | 2024


    A Simple and Robust Path Follower

    Critchley, James H. / Jayakumar, Paramsothy | SAE Technical Papers | 2010


    A simple and robust path follower

    Critschley,J.H. / Jayakumar,P. / BAE Systems,US | Kraftfahrwesen | 2010