In this paper we propose an alternative approach to estimate the UAV translational velocity and position applying an onboard optical flow sensor. This, is a appropriated sensor to be used in a mini UAV due to its lightness and smallness. With this approach we are able to perform real-time autonomous outdoor and indoor flight without using the GPS information, which in some case is blocked, denied or jammed. Additionally, a PD controller is robustly tuned in order to compensate the uncertain velocity measurements provided by the optical flow sensor. The experimental results obtained by using this approach shown the feasibility of the proposed sensor-controller scheme.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Visual odometry for autonomous outdoor flight of a quadrotor UAV


    Beteiligte:
    Romero, H. (Autor:in) / Salazar, S. (Autor:in) / Santos, O. (Autor:in) / Lozano, R. (Autor:in)


    Erscheinungsdatum :

    2013-05-01


    Format / Umfang :

    1853086 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Stereo Visual Inertial Odometry for Unmanned Aerial Vehicle Autonomous Flight

    Liu, Quanpan / Wang, Zhengjie / Wang, Huan | Springer Verlag | 2019


    Stereo Visual Inertial Odometry for Unmanned Aerial Vehicle Autonomous Flight

    Liu, Quanpan / Wang, Zhengjie / Wang, Huan | British Library Conference Proceedings | 2020


    AUTONOMOUS NAVIGATION USING VISUAL ODOMETRY

    LIAO MIAO / LI MING / HONG SOONHAC | Europäisches Patentamt | 2017

    Freier Zugriff

    Visual Odometry for Autonomous Deep-Space Navigation

    Robinson, Shane / Pedrotty, Sam | NTRS | 2016


    Autonomous Quadrotor Flight in a Coal Mine

    Deutsches Zentrum für Luft- und Raumfahrt (DLR) | TIB AV-Portal | 2014