Abstract
In this paper, an algorithm to follow a given trajectory with a quadcopter is presented. This algorithm depends on a group of parameters whose selection strongly influences its performance. At the same time, those parameters depend on the velocity of the aerial vehicle and the curvature of the reference path. The main contribution of this paper is to show how the original algorithm can be enhanced if these parameters are chosen using a fuzzy-logic decision system based on a dimensionless variable, rather than taking them as constants. Simulation results are encouraging.
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Notes
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“Sistema Autnomo para la Localizacin y Actuacin ante Contaminantes en el Mar”, Autonomous Systems for the Location and Actions against Contaminants on the Sea, ISCAR, UCM.
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Acknowledgments
The authors would like to thank the Spanish Ministry of Science and Innovation (MICINN) for support under project DPI2013-46665-C2-1-R, and the ISCAR team (UCM) for the quadrotor model.
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Auñón, P.G., Peñas, M.S., de la Cruz García, J.M. (2015). A First Intelligent Approach to Path Following Algorithm for Quadcopters. In: Herrero, Á., Sedano, J., Baruque, B., Quintián, H., Corchado, E. (eds) 10th International Conference on Soft Computing Models in Industrial and Environmental Applications. Advances in Intelligent Systems and Computing, vol 368. Springer, Cham. https://doi.org/10.1007/978-3-319-19719-7_28
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DOI: https://doi.org/10.1007/978-3-319-19719-7_28
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