EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles

Abstract

An embedded robust nonlinear controller to stabilize a four-rotor rotorcraft in presence of crosswind is developed in this paper. A previous dynamical system of the aircraft taking in account aerodynamical effects induced by lateral wind is conceived using the Newton-Euler approach. The stability analysis and robustness with respect disturbances is proved using the Lyapunov theory. Simulations have been accomplished to validate the performance of the proposed control schema. Additionally, a prototype with an embedded control system was created to prove, in real-time, the effectiveness and robustness of the proposed algorithm. Experimental results have illustrated the good behavior of the closed-loop system even in presence of several disturbances.