Trajectory Tracking of AR.Drone Quadrotor Using Fuzzy Logic Controller
Abstract: In this paper, Fuzzy
Logic Controller (FLC) is implemented in the AR.Drone quadrotor in order to
make it follow a given trajectory reference. The distance between the position
and angle of the AR.Drone to the reference point is used as the input of FLC.
As for the output, pitch value and yaw rate will be the controlling signal for
the AR.Drone. The navigation data of the AR.Drone are forward speed (vx),
sideward speed (vy), and yaw. These navigation data are going to be used to
estimate positions and orientation of the AR.Drone. To compensate the
y-position drift, the value of vyis also use as a criterion to determine the
roll compensation. The FLC algorithm is implemented to AR.Drone 2.0 Elite
Edition using LabVIEW software. Also, the algorithm has been tested in various
trajectories such as straight line, a straight line with a perpendicular turn,
a rectangular trajectory, and a curved trajectory. The results have shown that
AR.Drone can follow a given trajectory with various initial position and orientation
quite well.
Author: Agung Prayitno,
Veronica Indrawati, Gabriel Utomo
Journal Code: jptkomputergg140105
