Quadrotor UAV Path Following Using Trajectory Shaping

The propose of this research is to develop a path following control law known as Trajectory Shaping. The approach is to develop a three- dimensional (3D) version of it from an existing two-dimensional (2D) model. Apart from research on this 3D control law, a multirotor unmanned aerial vehicle (UAV) platform, having four rotors and known as quadrotor is designed from the ground up for validating the concept of path following. Several pre-defined paths like the circle and figure-eight trajectories are used to apply the newly developed version of this control law. The existing 2D concept of Trajectory Shaping guidance law has already been designed and tested on a virtual point-mass vehicle model to follow predefined, compact 2D trajectories. The results obtained from new 3D guidance law are compared with another type of 3D guidance law to analyze the trajectory convergence characteristics