Quadrotor Control on $SU(2)\times R^3$ 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.

arXiv comment18 pages, 9 figures, extended version of ACC'22 paper

References in corpus (4)

• On-Manifold Preintegration for Real-Time Visual-Inertial Odometry
• Visual-Inertial Monocular SLAM with Map Reuse
• Towards an autonomous industry 4.0 warehouse: A UAV and blockchain-based system for inventory and traceability applications in big data-driven supply chain management
• Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)

Cited by in corpus (1)

• Stress Testing Control Loops in Cyber-Physical Systems