Trajectory Generation and Tracking Using the AR.Drone 2.0 Quadcopter UAV

Pedro Velez, Novel Certad, Elvis Ruiz

Abstract: Trajectory generation and tracking algorithms were developed using ROS (Robot Operating System) for the AR. Drone 2.0 quad copter. Flight paths were created with cubic polynomials and Bezier curves. A PID controller was implemented to drive the AR. Drone from its current position to the desired coordinate point for the trajectory tracking task. Additionally, a navigation method was implemented using attractive and repulsive artificial potential fields to carry out obstacle-avoidance and goal-reaching tasks. The software was tested using simulations in Gazebo and the real AR. Drone. The drone's global position was estimated using an Extended Kalman Filter and visual landmarks.