Motion Control of a Terrain Following Unmanned Aerial Vehicle Under Uncertainty

  • Nasser Ayidh AlqahtaniEmail author
  • Bara Jamal Emran
  • Homayoun Najjaran
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 16)


This paper presents a method of building a smooth trajectory for a quadrotor equipped with a single-beam LiDAR to closely follow terrain undulations underneath. The LiDAR is attached at the bottom of the quadrotor and can be set at different angles. This can be an important feature for a quadrotor used in a large variety of applications including surveillance, mapping, infrastructure monitoring, search and rescue. Through simulation, this work demonstrates how a low-cost solution can be effective for controlling flight altitude in real-time. Simulation results show how changing the laser angle and size of the filtering window impact planning of a proper trajectory for the quadrotor.


Quadrotor Terrain following Motion planning and control 


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Nasser Ayidh Alqahtani
    • 1
    • 2
    Email author
  • Bara Jamal Emran
    • 1
  • Homayoun Najjaran
    • 1
  1. 1.School of EngineeringUniversity of British ColumbiaKelownaCanada
  2. 2.Qassim UniversityBuraydahSaudi Arabia

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