Papers for

robotics instructors

Papers whose findings have a practical use for this group, as judged from the abstract. Open a paper to read what it means in practice.

Quadrotor trajectories made smooth with simple control methods

Trajectory Generation and Control for Quadrotors

Abstract: In this project, I explored controller design and trajectory generation for a quadrotor. Differential flatness was used for trajectory generation based on one of the references. A minimum snap trajectory is generated from the given algorithm based on waypoint navigation, and a simple proportional plus derivative (PD) controller is used to track the trajectories. Simulation results are presented which generate smooth trajectories for position and velocity of the quadrotor.

Sun 25 OctRobotics

The gist

Flying a drone smoothly from one spot to another is tricky because it needs to know where to go and how to move its parts properly. The authors looked at new ways to create these smooth flying paths using math that breaks down the drone's movements into easy-to-calculate parts. They also used a basic control system to help the drone follow these paths accurately in a computer simulation. The results show that the drone can move smoothly and predictably between points in space.

Open → 2610.34456v1