Observatorio de I+D+i UPM

Memorias de investigación
Capítulo de libro:
Floor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles
Año:2014
Áreas de investigación
  • Percepción visual,
  • Robots aéreos,
  • Robots autónomos,
  • Robots de inspección,
  • Ajuste de controladores,
  • Percepción,
  • Control visual,
  • Inspección visual,
  • Visión en tiempo-real
Datos
Descripción
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.
Internacional
Si
DOI
10.1007/978-3-319-03653-3_8
Edición del Libro
Editorial del Libro
Springer International Publishing
ISBN
978-3-319-03652-6
Serie
Advances in Intelligent Systems and Computing
Título del Libro
ROBOT2013: First Iberian Robotics Conference
Desde página
91
Hasta página
106
Esta actividad pertenece a memorias de investigación
Participantes
  • 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)
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: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
S2i 2021 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)