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

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.