Trajectory planning for an unmanned quadrotor.

Autores
Pucheta, Martín Alejo; Alberto, Nicolás; Paz, Claudio; Pérez Paina, Gonzalo
Año de publicación
2016
Idioma
inglés
Tipo de recurso
artículo
Estado
versión aceptada
Descripción
. The quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of application fields, inspection in harvesting environments, surveillance, cinematographic filmation, among others. Most of these applications are easily achieved if a set of predefined programmed trajecto ries or tasks are selected from a database of automatic tasks safety performed inside the limit cycle and compatible with actuators bounds. This paper presents two controllers that simultaneously coordinates the position and orientation motions of a quadrotor. The first controller is based on Euler angles and the second on quaternions. The equations of motion for the quadrotor are computed and simulated using Euler angles by means of a first-order reduction of the nonlinear Newton-Euler equations. This simulator of the plant is used to supply the observed state to simulate both controllers. The generation of trajec- tories with bounded derivatives on the velocities is used to provide continuous actions on the actuators and also prevent their saturation, enabling the minimization of trajectory tracking errors and reducing or avoiding the overshooting. Finally, the simulation for three kinematic tasks, a circle, a 8-shape, and a square trajectory are shown to test the controller behaviors and adjust their gains.
Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
Fil: Alberto, Nicolás. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
Materia
Quadrotors
Newton-Euler dynamics
Euler angles
Quaternions
Nonlinear Control
Trajectory generation
Nivel de accesibilidad
acceso abierto
Condiciones de uso
Attribution-NonCommercial-NoDerivatives 4.0 International
Repositorio
Repositorio Institucional Abierto (UTN)
Institución
Universidad Tecnológica Nacional
OAI Identificador
oai:ria.utn.edu.ar:20.500.12272/13372
Acceder
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oai_identifier_str oai:ria.utn.edu.ar:20.500.12272/13372
network_acronym_str RIAUTN
repository_id_str a
network_name_str Repositorio Institucional Abierto (UTN)
spelling Trajectory planning for an unmanned quadrotor.Pucheta, Martín AlejoAlberto, NicolásPaz, ClaudioPérez Paina, GonzaloQuadrotorsNewton-Euler dynamicsEuler anglesQuaternionsNonlinear ControlTrajectory generation. The quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of application fields, inspection in harvesting environments, surveillance, cinematographic filmation, among others. Most of these applications are easily achieved if a set of predefined programmed trajecto ries or tasks are selected from a database of automatic tasks safety performed inside the limit cycle and compatible with actuators bounds. This paper presents two controllers that simultaneously coordinates the position and orientation motions of a quadrotor. The first controller is based on Euler angles and the second on quaternions. The equations of motion for the quadrotor are computed and simulated using Euler angles by means of a first-order reduction of the nonlinear Newton-Euler equations. This simulator of the plant is used to supply the observed state to simulate both controllers. The generation of trajec- tories with bounded derivatives on the velocities is used to provide continuous actions on the actuators and also prevent their saturation, enabling the minimization of trajectory tracking errors and reducing or avoiding the overshooting. Finally, the simulation for three kinematic tasks, a circle, a 8-shape, and a square trajectory are shown to test the controller behaviors and adjust their gains.Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.Fil: Alberto, Nicolás. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.Universidad Tecnológica Nacional Regional Córdoba.2025-06-27T20:02:18Z2016info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articulopdfapplication/pdfMecánica Computacional Vol XXXIV.https://hdl.handle.net/20.500.12272/13372enginfo:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Pucheta, Martín Alejo; Alberto, Nicolás; Paz, Claudio; Pérez Paina, Gonzalo.https://creativecommons.org/licenses/by-nc-nd/4.0/reponame:Repositorio Institucional Abierto (UTN)instname:Universidad Tecnológica Nacional2026-09-24T12:45:53Zoai:ria.utn.edu.ar:20.500.12272/13372instacron:UTNInstitucionalhttp://ria.utn.edu.ar/Universidad públicaNo correspondehttp://ria.utn.edu.ar/oaigestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:a2026-09-24 12:45:53.548Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacionalfalse
dc.title.none.fl_str_mv Trajectory planning for an unmanned quadrotor.
title Trajectory planning for an unmanned quadrotor.
spellingShingle Trajectory planning for an unmanned quadrotor.
Pucheta, Martín Alejo
Quadrotors
Newton-Euler dynamics
Euler angles
Quaternions
Nonlinear Control
Trajectory generation
title_short Trajectory planning for an unmanned quadrotor.
title_full Trajectory planning for an unmanned quadrotor.
title_fullStr Trajectory planning for an unmanned quadrotor.
title_full_unstemmed Trajectory planning for an unmanned quadrotor.
title_sort Trajectory planning for an unmanned quadrotor.
dc.creator.none.fl_str_mv Pucheta, Martín Alejo
Alberto, Nicolás
Paz, Claudio
Pérez Paina, Gonzalo
author Pucheta, Martín Alejo
author_facet Pucheta, Martín Alejo
Alberto, Nicolás
Paz, Claudio
Pérez Paina, Gonzalo
author_role author
author2 Alberto, Nicolás
Paz, Claudio
Pérez Paina, Gonzalo
author2_role author
author
author
dc.subject.none.fl_str_mv Quadrotors
Newton-Euler dynamics
Euler angles
Quaternions
Nonlinear Control
Trajectory generation
topic Quadrotors
Newton-Euler dynamics
Euler angles
Quaternions
Nonlinear Control
Trajectory generation
dc.description.none.fl_txt_mv . The quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of application fields, inspection in harvesting environments, surveillance, cinematographic filmation, among others. Most of these applications are easily achieved if a set of predefined programmed trajecto ries or tasks are selected from a database of automatic tasks safety performed inside the limit cycle and compatible with actuators bounds. This paper presents two controllers that simultaneously coordinates the position and orientation motions of a quadrotor. The first controller is based on Euler angles and the second on quaternions. The equations of motion for the quadrotor are computed and simulated using Euler angles by means of a first-order reduction of the nonlinear Newton-Euler equations. This simulator of the plant is used to supply the observed state to simulate both controllers. The generation of trajec- tories with bounded derivatives on the velocities is used to provide continuous actions on the actuators and also prevent their saturation, enabling the minimization of trajectory tracking errors and reducing or avoiding the overshooting. Finally, the simulation for three kinematic tasks, a circle, a 8-shape, and a square trajectory are shown to test the controller behaviors and adjust their gains.
Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
Fil: Alberto, Nicolás. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
description . The quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of application fields, inspection in harvesting environments, surveillance, cinematographic filmation, among others. Most of these applications are easily achieved if a set of predefined programmed trajecto ries or tasks are selected from a database of automatic tasks safety performed inside the limit cycle and compatible with actuators bounds. This paper presents two controllers that simultaneously coordinates the position and orientation motions of a quadrotor. The first controller is based on Euler angles and the second on quaternions. The equations of motion for the quadrotor are computed and simulated using Euler angles by means of a first-order reduction of the nonlinear Newton-Euler equations. This simulator of the plant is used to supply the observed state to simulate both controllers. The generation of trajec- tories with bounded derivatives on the velocities is used to provide continuous actions on the actuators and also prevent their saturation, enabling the minimization of trajectory tracking errors and reducing or avoiding the overshooting. Finally, the simulation for three kinematic tasks, a circle, a 8-shape, and a square trajectory are shown to test the controller behaviors and adjust their gains.
publishDate 2016
dc.date.none.fl_str_mv 2016
2025-06-27T20:02:18Z
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv Mecánica Computacional Vol XXXIV.
https://hdl.handle.net/20.500.12272/13372
identifier_str_mv Mecánica Computacional Vol XXXIV.
url https://hdl.handle.net/20.500.12272/13372
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Pucheta, Martín Alejo; Alberto, Nicolás; Paz, Claudio; Pérez Paina, Gonzalo.
https://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
rights_invalid_str_mv Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Pucheta, Martín Alejo; Alberto, Nicolás; Paz, Claudio; Pérez Paina, Gonzalo.
https://creativecommons.org/licenses/by-nc-nd/4.0/
dc.format.none.fl_str_mv pdf
application/pdf
dc.publisher.none.fl_str_mv Universidad Tecnológica Nacional Regional Córdoba.
publisher.none.fl_str_mv Universidad Tecnológica Nacional Regional Córdoba.
dc.source.none.fl_str_mv reponame:Repositorio Institucional Abierto (UTN)
instname:Universidad Tecnológica Nacional
reponame_str Repositorio Institucional Abierto (UTN)
collection Repositorio Institucional Abierto (UTN)
instname_str Universidad Tecnológica Nacional
repository.name.fl_str_mv Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacional
repository.mail.fl_str_mv gestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.ar
_version_ 1877230911115755520
score 13.24418

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