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An Aerial Robot Path Follower Based on the ‘Carrot Chasing’ Algorithm

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Robot 2019: Fourth Iberian Robotics Conference (ROBOT 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1093))

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Abstract

This paper presents a three-dimensional path follower implementation for an aerial robot based on the carrot-chasing algorithm. The main objective was to improve the performance of the position controller of the PX4 autopilot when following a list of waypoints. This autopilot is widely used in the aerial robotics community, but we needed to improve its performance for navigation in cluttered environments. Different simulations have been carried out under the ROS (Robotic Operating System) environment for the comparison between the position controller of the PX4 and the proposed path follower. In addition, we have implemented different modes to generate the path from the input list of waypoints that are also analyzed in our simulation environment.

This work is partially supported by the MULTIDRONE (H2020-ICT-731667) European project and the ARM-EXTEND (DPI2017-89790-R) Spanish project.

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Notes

  1. 1.

    https://github.com/grvcTeam/grvc-ual.

  2. 2.

    https://www.ros.org/.

  3. 3.

    https://wiki.ros.org/mavros.

  4. 4.

    https://github.com/hecperleo/upat_follower/tree/robot19.

  5. 5.

    https://grvc.us.es/robot19path.

  6. 6.

    https://wiki.ros.org/rviz.

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Author information

Authors and Affiliations

  1. Robotics, Vision and Control Group, University of Seville, Avda. de los Descubrimientos s/n, 41092, Sevilla, Spain

    Hector Perez-Leon, Jose Joaquin Acevedo, Jose A. Millan-Romera, Alejandro Castillejo-Calle, Ivan Maza & Anibal Ollero

Authors
  1. Hector Perez-Leon
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  2. Jose Joaquin Acevedo
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  3. Jose A. Millan-Romera
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  4. Alejandro Castillejo-Calle
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  5. Ivan Maza
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  6. Anibal Ollero
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Corresponding author

Correspondence to Hector Perez-Leon .

Editor information

Editors and Affiliations

  1. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  2. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  3. Faculty of Engineering, University of Porto, Porto, Portugal

    Luís Paulo Reis

  4. UPC, Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  5. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

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Perez-Leon, H., Acevedo, J.J., Millan-Romera, J.A., Castillejo-Calle, A., Maza, I., Ollero, A. (2020). An Aerial Robot Path Follower Based on the ‘Carrot Chasing’ Algorithm. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_4

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