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

Pestana Puerta, Jesús and Mellado Bataller, Ignacio and Sánchez López, José Luis and Fu, Changhong and Mondragon Bernal, Ivan Fernando and 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.

Description

Title: A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles
Author/s:
  • Pestana Puerta, Jesús
  • Mellado Bataller, Ignacio
  • Sánchez López, José Luis
  • Fu, Changhong
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
Item Type: Article
Título de Revista/Publicación: Journal of Intelligent & Robotic Systems
Date: January 2014
ISSN: 0921-0296
Volume: 73
Subjects:
Freetext Keywords: 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
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
UPM's Research Group: Computer Vision CVG
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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.

More information

Item ID: 36249
DC Identifier: http://oa.upm.es/36249/
OAI Identifier: oai:oa.upm.es:36249
DOI: 10.1007/s10846-013-9953-0
Official URL: http://link.springer.com/article/10.1007%2Fs10846-013-9953-0#
Deposited by: Memoria Investigacion
Deposited on: 23 Jun 2015 16:33
Last Modified: 24 Jun 2015 16:23
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