Quadcopter trajectory control with obstacle navigation

This paper presents a control algorithm for a nonlinear mathematical model of a quad-copter. Under the proposed control law, the machine follows polynomial trajectories with zero stationary error. An original method for the autonomous generation of trajectories is presented along with a stability result concerning the swarm formed by agents following this algorithm. The same algorithm is then slightly modified to provide an elegant solution to the obstacle navigation problem. Simulations and numerical results are presented.

#QuadcopterObstacleNavigation #DroneTrajectoryControl #DroneSwarm