Analysis of perturbations in trajectory control using visual estimation in multiple quadrotor systems

Abstract

This paper describes the trajectory control of a quadrotor using external position estimation obtained from visual tracking in a scenario with multiple quadrotors and a camera mounted in the base of two or more UAVs, with the images being transmitted through a radio link. Applications where visual tracking can be used include fault detection and recovery of internal sensors, formation flying and autonomous aerial refueling. The dynamic model of the quadrotor and its trajectory control scheme is described along with the model of perturbations considered for the external position estimation. Graphical and numerical results are presented in different conditions, commenting separately the effect of each identified perturbation over the trajectory control. This study is done in simulation as previous step before testing quadrotor trajectory control in real conditions due to the high risk of accidents and damages on the vehicle.