Quadrotor Control on SU(2) R^3 with SLAM Integration
Marcus Greiff, Patrik Persson, Zhiyong Sun, Karl Åström, Anders Robertsson
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We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2) R^3, and relate this result to a family of geometric tracking controllers on SO(3) 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.