Memorias de investigación
Research Publications in journals:
A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles
Year:2014
Research Areas
  • Visual perception,
  • Aerial robots,
  • Inspection robots,
  • Controller adjustments,
  • Perception,
  • Visual control,
  • Visual inspection,
  • Vision on real-time
Information
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.
International
Si
JCR
Si
Title
Journal of Intelligent & Robotic Systems
ISBN
0921-0296
Impact factor JCR
1,178
Impact info
Q3
Volume
73
10.1007/s10846-013-9953-0
Journal number
From page
387
To page
400
Month
ENERO
Ranking
Participants
Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Ingeniería de Organización, Administración de Empresas y Estadística
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial