Research Center for Supervision, Safety and Automatic Control

Path-Flyer

A simulation benchmark for testing path following algorithms on a quadrotor vehicle.

 

This benchmark allows to compare multiple path following algorithms in the same scenarios with flexibility. The mathematical model is complete and realistic, and it is based on the AscTec Hummingbird quadrotor. An identification process has been carried out to obtain its parameters. Also, it has been validated experimentally. Four path following algorithms; Non-linear Guidance Law (NLGL), Carrot-Chasing and its adaptive versions have been implemented. A user interface helps the user to modify test conditions and to explore simulation results. Path-Flyer is modular and programmable, meaning that new algorithms, blocks and/or simulation scenarios can be easily incorporated.

Software and documentations is available in: https://github.com/Rubi-cs2ac/Path-Flyer