Trajectory Generation and Tracking Using the AR.Drone 2.0 Quadcopter UAV

Trajectory generation and tracking algorithms were developed using ROS (Robot Operating System) for the AR. Drone 2.0 quad copter. Flight paths were created with cubic polynomials and Bezier curves. A PID controller was implemented to drive the AR. Drone from its current position to the desired coordinate point for the trajectory tracking task. Additionally, a navigation method was implemented using attractive and repulsive artificial potential fields to carry out obstacle-avoidance and goal-reaching tasks. The software was tested using simulations in Gazebo and the real AR. Drone. The drone´s global position was estimated using an Extended Kalman Filter and visual landmarks.