TY - GEN
T1 - Floor optical flow based navigation controller for multirotor aerial vehicles
AU - Pestana, Jesús
AU - Mellado-Bataller, Ignacio
AU - Sanchez-Lopez, Jose Luis
AU - Fu, Changhong
AU - Mondragón, Iván F.
AU - Campoy, Pascual
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2014.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84930425932
U2 - 10.1007/978-3-319-03653-3_8
DO - 10.1007/978-3-319-03653-3_8
M3 - Conference contribution
AN - SCOPUS:84930425932
T3 - Advances in Intelligent Systems and Computing
SP - 91
EP - 106
BT - ROBOT2013
A2 - Sanfeliu, Alberto
A2 - Ferre, Manuel
A2 - Armada, Manuel A.
A2 - Armada, Manuel A.
PB - Springer Verlag
T2 - ROBOT 2013: 1st Iberian Robotics Conference
Y2 - 28 November 2013 through 29 November 2013
ER -