Memorias de investigación
Artículos en revistas:
A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles
Año:2014
Áreas de investigación
  • Percepción visual,
  • Robots aéreos,
  • Robots de inspección,
  • Ajuste de controladores,
  • Percepción,
  • Control visual,
  • Inspección visual,
  • Visión en tiempo-real
Datos
Descripción
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.
Internacional
Si
JCR del ISI
Si
Título de la revista
Journal of Intelligent & Robotic Systems
ISSN
0921-0296
Factor de impacto JCR
1,178
Información de impacto
Q3
Volumen
73
DOI
10.1007/s10846-013-9953-0
Número de revista
Desde la página
387
Hasta la página
400
Mes
ENERO
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • 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