Quadrotor Control on $SU(2)\times R^3$ with SLAM Integration

TL;DR

This paper develops a geometric trajectory tracking controller for quadrotors on a complex configuration space, integrating SLAM for autonomous operation without external positioning, demonstrated through simulations and supermarket inventory tasks.

Contribution

It introduces a novel control framework on $SU(2) imes R^3$ and integrates SLAM with EKF for autonomous quadrotor navigation without external systems.

Findings

Controller successfully tracks trajectories in simulations.

System operates autonomously in supermarket environment.

Effective SLAM integration enables indoor navigation without external sensors.

Abstract

We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$. The theoretical results are complemented by simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an extended Kalman filter (EKF). This facilitates the operation of the UAV without external motion capture systems, and we demonstrate that the proposed control system can be used for inventorying tasks in a supermarket environment without external positioning systems.