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| Content Provider | Springer Nature Link |
|---|---|
| Author | Pestana, Jesús Mellado Bataller, Ignacio Sanchez Lopez, Jose Luis Fu, Changhong Mondragón, Iván F. Campoy, Pascual |
| Copyright Year | 2013 |
| Abstract | This research on odometry based GPS-denied navigation on multirotor Unmanned Aerial Vehicles is focused among the interactions between the odometry sensors and the navigation controller. More precisely, we present a controller architecture that allows to specify a speed specified flight envelope where the quality of the odometry measurements is guaranteed. The controller utilizes a simple point mass kinematic model, described by a set of configurable parameters, to generate a complying speed plan. For experimental testing, we have used down-facing camera optical-flow as odometry measurement. This work is a continuation of prior research to outdoors environments using an AR Drone 2.0 vehicle, as it provides reliable optical flow on a wide range of flying conditions and floor textures. Our experiments show that the architecture is realiable for outdoors flight on altitudes lower than 9 m. A prior version of our code was utilized to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012. The code will be released as an open-source ROS stack hosted on GitHub. |
| Starting Page | 387 |
| Ending Page | 400 |
| Page Count | 14 |
| File Format | |
| ISSN | 09210296 |
| Journal | Journal of Intelligent & Robotic Systems |
| Volume Number | 73 |
| Issue Number | 1-4 |
| e-ISSN | 15730409 |
| Language | English |
| Publisher | Springer Netherlands |
| Publisher Date | 2013-10-05 |
| Publisher Place | Dordrecht |
| Access Restriction | Subscribed |
| Subject Keyword | Aerial robotics Autonomous navigation Computer vision Control architectures and programming Control of UAVs Micro aerial vehicles Multirotor modeling and state estimation Robotics Unmanned aerial vehicles Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software |
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