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Path planning and reactive based control for a quadrotor with a suspended load
(Conference object; Konferansebidrag, 2021-06)
This paper presents a solution to quadrotor cargo transportation, more precisely when cargo is suspended as a sling load. The challenge lies in payload position control and swing attenuation, which we approach by dividing the model into subsystems: attitude quadrotor in free flight, and translational and attitude load dynamics. We propose a solution based on reactive control, in the sense that we ...
Multi-source data collection for state-of-the-art data analysis from ground-proximate images in sea ice classification
(Konferansebidrag; Conference object, 2017-08-08)
In modern data analysis it is imperative to use well maintained data sources with curated content. This publication gives an approach for research areas, where there is no such central facility. The specific area used here is sea ice classification from images. The publication is split into two parts. The first part describes the integration of discontinuous sources for different aspects of data ...
Path-following in three dimensions using quaternions for a fixed-wing UAV
(Conference object; Konferansebidrag, 2017-08-08)
This paper presents a three dimensional guidance strategy for fixed-wing UAVs using quaternions. The algorithm is based on constructing two quaternions, one which makes the UAV fly towards the path and one that makes the UAV follow the path. These two quaternions are then blended together such that the path-following objective is reached. The guidance algorithm is applied to a simple kinematic model ...
Quaternion guidance and control of quadrotor
(Konferansebidrag; Conference object, 2017-07-27)
This paper addresses the problem of trajectory tracking for underactuated quadrotors. A quaternion based guidance law is proposed which feeds into an attitude control system based on a PD+ control law. The desired attitude from the guidance law is defined such that the attitude control system tries to align the position error along the axis of the translational actuator. Simulation results are ...
Quadrotor attitude estimation using adaptive fading multiplicative EKF
(Konferansebidrag; Conference object, 2017-07-03)
This paper presents the implementation of an adaptive fading multiplicative extended Kalman filter (AFMEKF), applied to the problem of attitude estimation in the context of quadrotors. The extended Kalman filter is adapted for use with quaternions and made adaptive to account for inaccurate measurement information. Simulations have been conducted in order to validate the filter performance.