Path-Flyer

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A Benchmark of Quadrotor Path Following Algorithms.

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> Copyright (C) 2019 Bartomeu Rubí, Adrián Ruiz, Ramon Pérez, Bernardo Morcego
> 
> Path-Flyer is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3, or (at your option)
any later version.
> 
> Path-Flyer is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
> 
> You should have received a copy of the GNU General Public License
along with the benchmark files.  If not, see <http://www.gnu.org/licenses/>.
> 
> Authors: Bartomeu Rubı́, Adrián Ruiz, Ramon Pérez, Bernardo Morcego. 
Specific Center of Research CS2AC at Universitat Politècnica de Catalunya (UPC).
Rbla Sant Nebridi 22, Terrassa (Spain).

## Path-Flyer: A Benchmark of Quadrotor Path Following Algorithms

This benchmark allows to compare multiple path following algorithms in the same scenarios with flexibility.

Path-Flyer has been build upon the [Quad-Sim](https://github.com/dch33/Quad-Sim) platform, a quadrotor simulation
tool developed on the Drexdel University for simulation and control of quadrotors. That is,
it has been improved and modified to have a realistic mathematical and dynamic model of the
quadrotor and its environment, to implement a proper structure to solve the path following
problem and include various path following algorithms, and to incorporate new functionalities 
suited for the present benchmark.

### Features

Some key features of Path-Flyer are:

- It has a complete and experimentally validated model of the Asctec Hummingbird Quadrotor.

- Wind disturbance and noise on the measured states are modeled and can be customized.

- Four path following algorithms; Non-linear Guidance Law (NLGL), Carrot-Chasing
and its adaptive versions have been implemented.

- Path following algorithms can be tested in diverse simulation scenarios.

- A user interface helps the user to modify test conditions and to explore simulation
results.

- It is modular and programmable, meaning that new path following algorithms and/or
reference paths can be incorporated with ease.

### Documentation

In the [User Guide](Documentation/UserGuide.pdf) it is found how to install the benchmark, how to use the user interface, how to modify parameters such as wind disturbance or noise, how to program a new algorithm and how to incorporate new path references.

Hope you find it useful. If you have any doubts do not hesitate to contact us.

### Publication

More information about the mathematical model of the quadrotor and its environment,
the implemented path following algorithms and control structure, and the validation
process of the Path-Flyer platform in the following publication:

*Rubí B., Ruiz, A., Pérez, R. and Morcego, B. (2019). Path-Flyer: A Benchmark of Quadrotor Path Following Algorithms. In 2019 15th IEEE International Conference on Control and Automation (ICCA).*

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