A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles

Pestana Puerta, Jesús and Mellado Bataller, Ignacio and Changhong, Fu and Sánchez López, José Luis and Mondragón, Iván Fernando and Campoy Cervera, Pascual (2013). A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles. In: "2013 International Conference on Unmanned Aircraft Systems (ICUAS)", May 29-31, 2013, Atlanta, Georgia, USA. ISBN 978-1-4799-0817-2. pp. 557-564.

Description

Title: A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles
Author/s:
  • Pestana Puerta, Jesús
  • Mellado Bataller, Ignacio
  • Changhong, Fu
  • Sánchez López, José Luis
  • Mondragón, Iván Fernando
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2013 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Dates: May 29-31, 2013
Event Location: Atlanta, Georgia, USA
Title of Book: 2013 International Conference on Unmanned Aircraft Systems (ICUAS)
Date: 2013
ISBN: 978-1-4799-0817-2
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
UPM's Research Group: Computer Vision CVG
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented 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 participating category "Indoor Flight Dynamics - Rotary Wing MAV". Most of the code related to the present work is available as two open-source projects hosted in GitHub.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2010- 20751-C02-01CICYTUnspecifiedUnspecified

More information

Item ID: 37646
DC Identifier: http://oa.upm.es/37646/
OAI Identifier: oai:oa.upm.es:37646
Official URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6552462
Deposited by: Memoria Investigacion
Deposited on: 16 Sep 2015 16:16
Last Modified: 16 Sep 2015 16:16
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