Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards
In this paper, we present a complete and efficient solution of guidance, navigation and control for a quadrotor platform to accomplish 3D coverage flight missions in mapped vineyard terrains. Firstly, an occupancy grid map of the terrain is used to generate a safe guiding coverage path using an Iter...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/22/8865 |
| _version_ | 1797463967269912576 |
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| author | Adel Mokrane Abdelaziz Benallegue Amal Choukchou-Braham Abdelhafid El Hadri Brahim Cherki |
| author_facet | Adel Mokrane Abdelaziz Benallegue Amal Choukchou-Braham Abdelhafid El Hadri Brahim Cherki |
| author_sort | Adel Mokrane |
| collection | DOAJ |
| description | In this paper, we present a complete and efficient solution of guidance, navigation and control for a quadrotor platform to accomplish 3D coverage flight missions in mapped vineyard terrains. Firstly, an occupancy grid map of the terrain is used to generate a safe guiding coverage path using an Iterative Structured Orientation planning algorithm. Secondly, way-points are extracted from the generated path and added to them trajectory’s velocities and accelerations constraints. The constrained way-points are fed into a Linear Quadratic Regulator algorithm so as to generate global minimum snap optimal trajectory while satisfying both the pointing and the corridor constraints. Then, when facing unexpected obstacles, the quadrotor tends to re-plan its path in real-time locally using an Improved Artificial Potential Field algorithm. Finally, a geometric trajectory tracking controller is developed on the Special Euclidean group <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>S</mi><mi>E</mi><mo>(</mo><mn>3</mn><mo>)</mo></mrow></semantics></math></inline-formula>. The aim of this controller is to track the generated trajectory while pointing towards predetermined direction using the vector measurements provided by the inertial unit. The performance of the proposed method is demonstrated through several simulation results. In particular, safe guiding paths are achieved. Obstacle-free optimal trajectories that satisfy the way-point position, the pointing direction, and the corridor constraints, are successfully generated with optimized platform snap. Besides, the implemented geometric controller can achieve higher trajectory tracking accuracy with an absolute value of the maximum error in the order of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mn>10</mn><mrow><mo>−</mo><mn>3</mn></mrow></msup></semantics></math></inline-formula> m. |
| first_indexed | 2024-03-09T18:00:13Z |
| format | Article |
| id | doaj.art-9033384e081f4de69b21dfcc8b732015 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T18:00:13Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-9033384e081f4de69b21dfcc8b7320152023-11-24T09:57:03ZengMDPI AGSensors1424-82202022-11-012222886510.3390/s22228865Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of VineyardsAdel Mokrane0Abdelaziz Benallegue1Amal Choukchou-Braham2Abdelhafid El Hadri3Brahim Cherki4Laboratoire d’Ingénierie des Systèmes de Versailles, Université Paris-Saclay, UVSQ, LISV, 78124 Vélizy-Villacoublay, FranceLaboratoire d’Ingénierie des Systèmes de Versailles, Université Paris-Saclay, UVSQ, LISV, 78124 Vélizy-Villacoublay, FranceLaboratoire d’Automatique de Tlemcen, University of Tlemcen, Tlemcen 13000, AlgeriaLaboratoire d’Ingénierie des Systèmes de Versailles, Université Paris-Saclay, UVSQ, LISV, 78124 Vélizy-Villacoublay, FranceLaboratoire d’Automatique de Tlemcen, University of Tlemcen, Tlemcen 13000, AlgeriaIn this paper, we present a complete and efficient solution of guidance, navigation and control for a quadrotor platform to accomplish 3D coverage flight missions in mapped vineyard terrains. Firstly, an occupancy grid map of the terrain is used to generate a safe guiding coverage path using an Iterative Structured Orientation planning algorithm. Secondly, way-points are extracted from the generated path and added to them trajectory’s velocities and accelerations constraints. The constrained way-points are fed into a Linear Quadratic Regulator algorithm so as to generate global minimum snap optimal trajectory while satisfying both the pointing and the corridor constraints. Then, when facing unexpected obstacles, the quadrotor tends to re-plan its path in real-time locally using an Improved Artificial Potential Field algorithm. Finally, a geometric trajectory tracking controller is developed on the Special Euclidean group <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>S</mi><mi>E</mi><mo>(</mo><mn>3</mn><mo>)</mo></mrow></semantics></math></inline-formula>. The aim of this controller is to track the generated trajectory while pointing towards predetermined direction using the vector measurements provided by the inertial unit. The performance of the proposed method is demonstrated through several simulation results. In particular, safe guiding paths are achieved. Obstacle-free optimal trajectories that satisfy the way-point position, the pointing direction, and the corridor constraints, are successfully generated with optimized platform snap. Besides, the implemented geometric controller can achieve higher trajectory tracking accuracy with an absolute value of the maximum error in the order of <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mn>10</mn><mrow><mo>−</mo><mn>3</mn></mrow></msup></semantics></math></inline-formula> m.https://www.mdpi.com/1424-8220/22/22/8865guidancenavigationtrajectory generationquadrotorre-planningtrajectory tracking controller |
| spellingShingle | Adel Mokrane Abdelaziz Benallegue Amal Choukchou-Braham Abdelhafid El Hadri Brahim Cherki Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards Sensors guidance navigation trajectory generation quadrotor re-planning trajectory tracking controller |
| title | Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards |
| title_full | Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards |
| title_fullStr | Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards |
| title_full_unstemmed | Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards |
| title_short | Guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards |
| title_sort | guidance navigation and control for autonomous quadrotor flight in an agricultural field the case of vineyards |
| topic | guidance navigation trajectory generation quadrotor re-planning trajectory tracking controller |
| url | https://www.mdpi.com/1424-8220/22/22/8865 |
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