Finally, a geometric trajectory tracking controller is developed on the Special Euclidean group S E ( 3 ). Then, when facing unexpected obstacles, the quadrotor tends to re-plan its path in real-time locally using an Improved Artificial Potential Field algorithm. ![]() The constrained way-points are fed into a Linear Quadratic Regulator algorithm so as to generate global minimum snap optimal trajectory while satisfying both the pointing and the corridor constraints. Secondly, way-points are extracted from the generated path and added to them trajectory’s velocities and accelerations constraints. Firstly, an occupancy grid map of the terrain is used to generate a safe guiding coverage path using an Iterative Structured Orientation planning algorithm. ![]() ![]() In this paper, we present a complete and efficient solution of guidance, navigation and control for a quadrotor platform to accomplish 3D coverage flight missions in mapped vineyard terrains.
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