Artículos en revistas:
A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles
A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles
Año:2014
Áreas de investigación
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Percepción visual, -
Robots aéreos,
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Robots de inspección,
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Ajuste de controladores,
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Percepción,
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Control visual,
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Inspección visual,
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Visión en tiempo-real
Datos
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Descripción
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| 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. | |
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Internacional
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Si |
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JCR del ISI
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Si |
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Título de la revista
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Journal of Intelligent & Robotic Systems |
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ISSN
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0921-0296 |
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Factor de impacto JCR
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1,178 |
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Información de impacto
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Q3 |
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Volumen
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73 |
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DOI
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10.1007/s10846-013-9953-0 |
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Número de revista
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Desde la página
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387 |
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Hasta la página
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400 |
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Mes
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ENERO |
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Ranking
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Ver publicación en Archivo digital upm
Participantes
- Autor: Jesus Pestana Puerta (UPM)
- Autor: Ignacio Mellado Bataller (UPM)
- Autor: Jose Luis Fernandez Sanchez (UPM)
- Autor: Changhong Fu (UPM)
- Autor: Ivan Fernando Mondragon Bernal (UPM)
- Autor: Pascual Campoy Cervera (UPM)
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
S2i 2023 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)