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Intelligent Service Robotics

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06-01-2022 | Original Research Paper

A robust synergetic controller for Quadrotor obstacle avoidance using Bézier curve versus B-spline trajectory generation

Authors: Chara kheireddine, Abdessemed Yassine, Srairi Fawzi, Mokhtari Khalil

Published in: Intelligent Service Robotics | Issue 1/2022

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Abstract

This paper deals with a robust synergetic controller for planning an optimal trajectory and a guidance of the Quadrotor in complex environment. The Bézier curve method is introduced to plan the path of the Quadrotor, where the control points will be generated automatically to avoid the collusion with anything, keeping a high accuracy to detect the obstacles. In addition, the B-spline curves are generated in order to compare the proposed approach performances. Furthermore, a synergetic controller is synthesized for the attitude control of the Quadrotor, and the stability analysis of the proposed method is formally established. Numerical simulations are presented in order to show the effectiveness of the proposed controller. Experimental validation through a Quadrotor test bench is given in order to confirm the reported theoretical results.

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Title: A robust synergetic controller for Quadrotor obstacle avoidance using Bézier curve versus B-spline trajectory generation
Authors: Chara kheireddine
Abdessemed Yassine
Srairi Fawzi
Mokhtari Khalil
Publication date: 06-01-2022
Publisher: Springer Berlin Heidelberg
Published in: Intelligent Service Robotics / Issue 1/2022
Print ISSN: 1861-2776
Electronic ISSN: 1861-2784
DOI: https://doi.org/10.1007/s11370-021-00408-0

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