A Visually Impaired Seniors Guidance Quadrotor Trajectory Tracking Controller Design and Simulation

Abstract

The increasing number of elders is a new societal challenge in recent years. This paper aims to solve the problem of Visually Impaired Seniors' Guidance Quadrotor trajectory tracking. In addition, unlike the classic controller, the Quadrotor trajectory tracking is based on the Lyapunov direct method and backstepping control law. To attach the tracking requirement, the controller was designed based on the following errors, position, linear velocity, angular velocity, linear acceleration, and angular acceleration. The final controller is based on Quadrotor four propellers generated force and torque. The simulation result denotes that the autonomous system is stable and following the desired path smoothly. In the mathematics aspect, all errors converge to an equilibrium point, which is close to zero. The controller increases the Quadrotor flight robustness under unknown disturbance. In the future, the research will focus on a path-planning algorithm for guidance between ground and Quadrotor under unknown obstacles. This technology can be applied to human guidance and self-driving UAVs (Unmanned Aerial Vehicles) in industry manufacture, logistics, geological exploration, and special assistance.