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2017 | OriginalPaper | Chapter

A Trajectory Planning and Control System for Quadrotor Unmanned Aerial Vehicle in Field Inspection Missions

Authors : Gang Chen, Rong Wang, Wei Dong, Xinjun Sheng

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

In this work, a trajectory planning and control system designed for quadrotor unmanned aerial vehicles (UAVs) in automatic field inspection missions is presented. This system controls the UAV by two steps. First, a ground station laptop generates a complete coverage flight path regarding the specific working field. Subsequently, an onboard computer controls the UAV in real-time with position, velocity and acceleration setpoints calculated by a trajectory planning algorithm. The algorithm considers both the dynamic property of quadrotor UAVs and the acceleration and velocity limitations in real working condition. UAV controlled by this system performs a rapid and stable flight in windy environment and can be widely utilised in various domains.

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Metadata
Title
A Trajectory Planning and Control System for Quadrotor Unmanned Aerial Vehicle in Field Inspection Missions
Authors
Gang Chen
Rong Wang
Wei Dong
Xinjun Sheng
Copyright Year
2017
DOI
https://doi.org/10.1007/978-3-319-65298-6_50

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