High-Level Modeling and Control of the Bebop 2 Micro Aerial Vehicle
Anthony Oliveira Pinto, Harrison Neves Marciano, Vinícius Pacheco Bacheti, Mauro Sérgio Mafra Moreira, Alexandre S. Brandão, Mário Sarcinelli-Filho
Abstract
This paper deals with a simplified dynamic model for the Parrot Bebop 2 micro aerial vehicle, whose parameters are identified through a least-mean square error procedure. Moreover, such a model is used to design high-level controllers to autonomously guide a single vehicle or a formation of two of them, in tasks of positioning and trajectory-tracking. The controllers thus designed are used in experiments of autonomous navigation, whose results validate the proposed model and the designed controllers.
Topics & Concepts
TrajectoryComputer scienceTracking (education)Mean squared errorControl theory (sociology)Square (algebra)Tracking errorControl (management)SimulationArtificial intelligenceControl engineeringEngineeringMathematicsPhysicsPedagogyAstronomyPsychologyStatisticsGeometryRobotic Path Planning AlgorithmsRobotics and Sensor-Based LocalizationDistributed Control Multi-Agent Systems