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 wit...
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| Veröffentlicht in: | Intelligent service robotics 2022-03, Vol.15 (1), p.143-152 |
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| container_title | Intelligent service robotics |
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| creator | kheireddine, Chara Yassine, Abdessemed Fawzi, Srairi Khalil, Mokhtari |
| description | 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. |
| doi_str_mv | 10.1007/s11370-021-00408-0 |
| format | Article |
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Yassine, Abdessemed ; Fawzi, Srairi ; Khalil, Mokhtari</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c358t-ffa2003f6dc6f858ebe0aaeefeb752b22bf88abbfc8db20b0a6b7237cc185ab13</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Aircraft</topic><topic>Artificial Intelligence</topic><topic>Attitude control</topic><topic>B spline functions</topic><topic>Control</topic><topic>Controllers</topic><topic>Curves</topic><topic>Design</topic><topic>Dynamical Systems</topic><topic>Engineering</topic><topic>Kinematics</topic><topic>Mechatronics</topic><topic>Methods</topic><topic>Obstacle avoidance</topic><topic>Original Research Paper</topic><topic>Planning</topic><topic>Robotics</topic><topic>Robotics and Automation</topic><topic>Robust control</topic><topic>Sensors</topic><topic>Stability analysis</topic><topic>Systems stability</topic><topic>Trajectory optimization</topic><topic>Trajectory planning</topic><topic>Unmanned aerial vehicles</topic><topic>User Interfaces and Human Computer Interaction</topic><topic>Vibration</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>kheireddine, Chara</creatorcontrib><creatorcontrib>Yassine, Abdessemed</creatorcontrib><creatorcontrib>Fawzi, Srairi</creatorcontrib><creatorcontrib>Khalil, Mokhtari</creatorcontrib><collection>CrossRef</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>Materials Science & Engineering Collection</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer Science Database</collection><collection>ProQuest Engineering Collection</collection><collection>Engineering Database</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>Engineering Collection</collection><jtitle>Intelligent service robotics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>kheireddine, Chara</au><au>Yassine, Abdessemed</au><au>Fawzi, Srairi</au><au>Khalil, Mokhtari</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A robust synergetic controller for Quadrotor obstacle avoidance using Bézier curve versus B-spline trajectory generation</atitle><jtitle>Intelligent service robotics</jtitle><stitle>Intel Serv Robotics</stitle><date>2022-03-01</date><risdate>2022</risdate><volume>15</volume><issue>1</issue><spage>143</spage><epage>152</epage><pages>143-152</pages><issn>1861-2776</issn><eissn>1861-2784</eissn><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.</abstract><cop>Berlin/Heidelberg</cop><pub>Springer Berlin Heidelberg</pub><doi>10.1007/s11370-021-00408-0</doi><tpages>10</tpages><orcidid>https://orcid.org/0000-0002-4135-9883</orcidid></addata></record> |
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| ispartof | Intelligent service robotics, 2022-03, Vol.15 (1), p.143-152 |
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| subjects | Aircraft Artificial Intelligence Attitude control B spline functions Control Controllers Curves Design Dynamical Systems Engineering Kinematics Mechatronics Methods Obstacle avoidance Original Research Paper Planning Robotics Robotics and Automation Robust control Sensors Stability analysis Systems stability Trajectory optimization Trajectory planning Unmanned aerial vehicles User Interfaces and Human Computer Interaction Vibration |
| title | A robust synergetic controller for Quadrotor obstacle avoidance using Bézier curve versus B-spline trajectory generation |
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