Autonomous guidance navigation and control for agile quadrotors using polynomial trajectory planning and li adaptive control
Mattia Landolfi, Saptarshi Bandyopadhyay, Jean-Pierre de la Croix, Amir Reza Rahmani · 2017
We address the challenge to allow efficient autonomous flight in real world environments, both indoor and outdoor. We use a straight-line SE-SCP to find an initial route through the environment and minimum snap trajectory generation using piecewise polynomials. Then, we implement an adaptive robust control able to address some robustness issues for quadrotors in outdoor flight, such as mass variation and wind disturbances. Coupling these techniques we allow highspeed and aggressive autonomous flight through obstacle-dense indoor environments, as well as address outdoor disturbances.