Quadrotor Control on SU(2) X R3 with SLAM Integration

Marcus Greiff; Patrik Persson; Zhiyong Sun; Karl Åström; Anders Robertsson

doi:10.48550/arXiv.2110.01099

Quadrotor Control on SU(2) X R3 with SLAM Integration

Marcus Greiff (Corresponding author), Patrik Persson, Zhiyong Sun, Karl Åström, Anders Robertsson

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Abstract

We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$. The theoretical results are complemented by simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an extended Kalman filter (EKF). This facilitates the operation of the UAV without external motion capture systems, and we demonstrate that the proposed control system can be used for inventorying tasks in a supermarket environment without external positioning systems.

Original language	English
Article number	2110.01099
Number of pages	18
Journal	arXiv
Volume	2021
DOIs	https://doi.org/10.48550/arXiv.2110.01099
Publication status	Published - 3 Oct 2021

Keywords

Electrical Engineering and Systems Science - Systems and Control

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https://arxiv.org/abs/2110.01099

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title = "Quadrotor Control on SU(2) X R3 with SLAM Integration",

abstract = "We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$. The theoretical results are complemented by simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an extended Kalman filter (EKF). This facilitates the operation of the UAV without external motion capture systems, and we demonstrate that the proposed control system can be used for inventorying tasks in a supermarket environment without external positioning systems.",

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author = "Marcus Greiff and Patrik Persson and Zhiyong Sun and Karl {\AA}str{\"o}m and Anders Robertsson",

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AU - Greiff, Marcus

AU - Persson, Patrik

AU - Sun, Zhiyong

AU - Åström, Karl

AU - Robertsson, Anders

PY - 2021/10/3

Y1 - 2021/10/3

N2 - We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$. The theoretical results are complemented by simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an extended Kalman filter (EKF). This facilitates the operation of the UAV without external motion capture systems, and we demonstrate that the proposed control system can be used for inventorying tasks in a supermarket environment without external positioning systems.

AB - We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$. The theoretical results are complemented by simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an extended Kalman filter (EKF). This facilitates the operation of the UAV without external motion capture systems, and we demonstrate that the proposed control system can be used for inventorying tasks in a supermarket environment without external positioning systems.

KW - Electrical Engineering and Systems Science - Systems and Control

U2 - 10.48550/arXiv.2110.01099

DO - 10.48550/arXiv.2110.01099

M3 - Article

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JO - arXiv

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ER -

Quadrotor Control on SU(2) X R3 with SLAM Integration

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