Micro air vehicles such as miniature rotorcrafts require high-precision and fast localization updates for their control, but cannot carry large payloads. Therefore, only small and light-weight sensors and processing units can be deployed on such platforms, favoring vision-based solutions that use light weight cameras and run on small embedded computing platforms. In this paper, we propose a navigation framework to provide a small quadrotor UAV with accurate state estimation for high speed control including 6DoF pose and sensor self-calibration. Our method allows very fast deployment without prior calibration procedures literally rendering the vehicle a throw-and-go platform. Additionally, we demonstrate hazard-avoiding autonomous landing to showcase a high-level navigation capability that relies on the low-level pose estimation results and is executed on the same embedded platform. We explain our hardware-specific implementation on a 12g processing unit and show real-world end-to-end results.
Towards Autonomous Navigation of Miniature UAV
01.06.2014
1223906 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Autonomous Navigation and Control of Miniature Vehicle using Indoor Navigation System
British Library Conference Proceedings | 2002
|Autonomous miniature blimp navigation with online motion planning and re-planning
Tema Archiv | 2011
|Towards Autonomous Long Range Navigation
British Library Conference Proceedings | 2005
|Towards Resilient Autonomous Navigation of Drones
British Library Conference Proceedings | 2022
|Towards Resilient Autonomous Navigation of Drones
NTRS | 2019
|