In this work, a solution to outdoor trajectory tracking using quadrotors is presented. The unmanned aerial vehicles (UAVs) navigate under the leader-follower formation, where the pose of the leader is estimated using its onboard sensors, and the pose of the follower by position-based visual servoing. To handle the outdoor environment perturbations, unmodeled vehicle dynamics, and dynamic disturbances caused by wind and varying lightning conditions, a robust sliding mode controller is used. The proposal is experimentally validated using two Parrot Bebop 2 quadrotors in an outdoor scenario. The obtained results allow concluding that the proposed control system is able to accomplish trajectory tracking under parametric uncertainties and real-world disturbances.


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    Title :

    Outdoor navigation using two quadrotors and adaptive sliding mode control




    Publication date :

    2020-09-01


    Size :

    4109728 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English