A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

Pestana Puerta, Jesús; Mellado Bataller, Ignacio; Sánchez López, José Luis; Fu, Changhong; Mondragon Bernal, Ivan Fernando y Campoy Cervera, Pascual (2014). A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles. "Journal of Intelligent & Robotic Systems", v. 73 (n. 1-4); pp. 387-400. ISSN 0921-0296. https://doi.org/10.1007/s10846-013-9953-0.

Descripción

Título: A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles
Autor/es:
  • Pestana Puerta, Jesús
  • Mellado Bataller, Ignacio
  • Sánchez López, José Luis
  • Fu, Changhong
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
Tipo de Documento: Artículo
Título de Revista/Publicación: Journal of Intelligent & Robotic Systems
Fecha: Enero 2014
Volumen: 73
Materias:
Palabras Clave Informales: Aerial robotics, Autonomous navigation, Computer vision, Control architectures and programming, Control of UAVs, Micro aerial vehicles, Multirotor modeling and state estimation, Robotics, Unmanned aerial vehicles
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Grupo Investigación UPM: Computer Vision CVG
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Más información

ID de Registro: 36249
Identificador DC: http://oa.upm.es/36249/
Identificador OAI: oai:oa.upm.es:36249
Identificador DOI: 10.1007/s10846-013-9953-0
URL Oficial: http://link.springer.com/article/10.1007%2Fs10846-013-9953-0#
Depositado por: Memoria Investigacion
Depositado el: 23 Jun 2015 16:33
Ultima Modificación: 24 Jun 2015 16:23
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