3D trajectory control for quadrocopter
Tim Puls, Andreas Hein · 2010
The demand for unattended aerial systems capable of fulfilling e.g. surveillance tasks in contaminated or inaccessible areas without any assistance of a human pilot is the motivation for the investigation of a 3D trajectory control. Hence, this paper deals with the development of such a control algorithm able to follow any kind of 3D trajectory within the quadrocopter's capabilities. In this paper the 3D trajectory control algorithm is described. Many simulations were done to find the optimal trajectory course. Further, the control algorithm was implemented on a flight demonstrator for validation and experimental results regarding linear and circle trajectories are provided.