Observatorio de I+D+i UPM

Memorias de investigación
Book chapters:
Floor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles
Year:2014
Research Areas
  • Visual perception,
  • Aerial robots,
  • Autonomic robots,
  • Inspection robots,
  • Controller adjustments,
  • Perception,
  • Visual control,
  • Visual inspection,
  • Vision on real-time
Information
Abstract
The presented work is focused on GPS-denied autonomous navigation for multirotor platforms. The problem of safe navigation based on noisy odometry measurements is discussed, and experimentally tested on the case of on-board optical flow measurements. A navigation controller is proposed which allows, through a group of configurable parameters, to ensure that the vehicle will fly on a speed specified flight envelope where the quality of the optical flow measurements is guaranteed. In order to attain safe navigation, the multirotor is modeled as a flying vehicle with specific kinematic constraints. The designed unperfect odometry based controller architecture has been experimentally tested on various multirotor vehicles, where the vehicles featured similar sensoring capabilities and the tolerance of our approach have been demonstrated. This work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on ?Best Automatic Performance - IMAV 2012? and the second overall prize in the category of ?Indoor Flight Dynamics - Rotary Wing MAV?. Most of the related code is available as two open-source projects hosted on GitHub.
International
Si
10.1007/978-3-319-03653-3_8
Book Edition
Book Publishing
Springer International Publishing
ISBN
978-3-319-03652-6
Series
Advances in Intelligent Systems and Computing
Book title
ROBOT2013: First Iberian Robotics Conference
From page
91
To page
106
Participants
  • Autor: Jesus Pestana Puerta (UPM)
  • Autor: Ignacio Mellado Bataller (UPM)
  • Autor: Jose Luis Sanchez Lopez (Universidad Politecnica de Madrid)
  • Autor: Changhong Fu (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)