An aerial robot path follower based on the ’Carrot chasing’ algorithm

Pérez-León, Héctor; Acevedo Báñez, José Joaquín; Millán Romera, José Andrés; Castillejo Calle, Alejandro; Maza Alcañiz, Iván; Ollero Baturone, Aníbal

doi:10.1007/978-3-030-36150-1_4

Ponencia

dc.creator	Pérez-León, Héctor	es
dc.creator	Acevedo Báñez, José Joaquín	es
dc.creator	Millán Romera, José Andrés	es
dc.creator	Castillejo Calle, Alejandro	es
dc.creator	Maza Alcañiz, Iván	es
dc.creator	Ollero Baturone, Aníbal	es
dc.date.accessioned	2020-07-10T08:04:47Z
dc.date.available	2020-07-10T08:04:47Z
dc.date.issued	2020
dc.identifier.citation	Pérez-León, H., Acevedo Báñez, J.J., Millán Romera, J.A., Castillejo Calle, A., Maza Alcañiz, I. y Ollero Baturone, A. (2020). An aerial robot path follower based on the ’Carrot chasing’ algorithm. En Robot 2019. Fourth Iberian Robotics Conference (37-47), Porto (Portugal): Springer Verlag.
dc.identifier.isbn	978-3-030-36149-5	es
dc.identifier.isbn	978-3-030-36150-1	es
dc.identifier.uri	https://hdl.handle.net/11441/99181
dc.description.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.	es
dc.format	application/pdf	es
dc.format.extent	11 p.	es
dc.language.iso	eng	es
dc.publisher	Springer Verlag	es
dc.relation.ispartof	Robot 2019. Fourth Iberian Robotics Conference (2020), p 37-47
dc.rights	Attribution-NonCommercial-NoDerivatives 4.0 Internacional	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-nd/4.0/	*
dc.subject	Aerial robotics	es
dc.subject	Path following	es
dc.subject	Carrot chasing algorithm	es
dc.title	An aerial robot path follower based on the ’Carrot chasing’ algorithm	es
dc.type	info:eu-repo/semantics/conferenceObject	es
dcterms.identifier	https://ror.org/03yxnpp24
dc.type.version	info:eu-repo/semantics/acceptedVersion	es
dc.rights.accessRights	info:eu-repo/semantics/openAccess	es
dc.contributor.affiliation	Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática	es
dc.relation.publisherversion	https://link.springer.com/chapter/10.1007%2F978-3-030-36150-1_4	es
dc.identifier.doi	10.1007/978-3-030-36150-1_4	es
dc.contributor.group	Universidad de Sevilla. TEP151: Robótica, Visión y Control	es
idus.validador.nota	Postprint	es
dc.publication.initialPage	37	es
dc.publication.endPage	47	es
dc.eventtitle	Robot 2019. Fourth Iberian Robotics Conference	es
dc.eventinstitution	Porto (Portugal)	es

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