Path-Flyer: A Benchmark of Quadrotor Path Following Algorithms

This paper presents Path-Flyer, a simulation benchmark for testing path following algorithms on a quadrotor vehicle. A complete and realistic mathematical model, based on the real Asctec Hummingbird quadrotor, is described. Wind disturbance and noise on the measured states are also included in the benchmark and can be customized. Four path following algorithms are implemented: Non-Linear Guidance Law (NLGL), Carrot-Chasing and an adaptive version of both algorithms. This benchmark has been prepared to add new algorithms with ease. Experimental tests are compared with the simulation results of Path-Flyer to prove its validity. Path-Flyer is available online.