Videos of the experiments for the paper "Constrained Control of UAVs in Geofencing Applications".
Experimental results of the AR Drone flying in a constrained environment. There are three successive experiments:
Wall constraint (without ERG): the first experiment consists in moving the UAV to a certain position (allowed). After it is stabilized, we set the desired point in an inadmissible region. Without the ERG, the UAV goes beyond the net (violating the constraint).
Wall constraint (with ERG): the second experiment consists in moving first the UAV to a safe position where it hovers. Then, we set the desired point outside the admissible region. With the ERG implemented, the UAV moves safely towards the reference but stops at the net, minimizing the distance with the reference.
Obstacle constraint (with ERG): The third experiment consists in first hovering the UAV at the origin. Then, the desired position is set behind the obstacle (PVC pipe). In non-constrained operation, the UAV moves in a straight line and hits the object, but with the ERG, the UAV avoids the obstacle and reaches the desired point in a safe way.