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Outdoor navigation using two quadrotors and adaptive sliding mode control (Experiment #1)

Outdoor navigation using two quadrotors and adaptive sliding mode control Daniel K. D. Villa; Alexandre S. Brandão; Mário Sarcinelli-Filho In 2020 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 716-721). Publication year: 2020 Abstract In this work, a solution to outdoor trajectory tracking using quadrotors is presented. The unmanned aerial vehicles (UAVs) navigate under the leader-follower formation, where the pose of the leader is estimated using its onboard sensors, and the pose of the follower by position-based visual servoing. To handle the outdoor environment perturbations, unmodeled vehicle dynamics, and dynamic disturbances caused by wind and varying lightning conditions, a robust sliding mode controller is used. The proposal is experimentally validated using two Parrot Bebop 2 quadrotors in an outdoor scenario. The obtained results allow concluding that the proposed control system is able to accomplish trajectory tracking under parametric uncertainties and real-world disturbances. Keywords: Vehicle dynamics, Robustness, Navigation, Trajectory, Cameras, Visual servoing Read our manuscript at: https://ieeexplore.ieee.org/document/... Cite us with following bibtex: @inproceedings{villa2020outdoor, title={Outdoor navigation using two quadrotors and adaptive sliding mode control}, author={Villa, Daniel KD and Brand{\~a}o, Alexandre S and Sarcinelli-Filho, M{\'a}rio}, booktitle={2020 International Conference on Unmanned Aircraft Systems (ICUAS)}, pages={716--721}, year={2020}, organization={IEEE}