Real-time pose estimation and reliable motion control are two crucial tasks for a quadrotor UAV. In order to obtain accurate and robust pose estimation, an estimation algorithm based on Cubature Kalman Filter (CKF) is adopted in this paper. Considering the limitation of a quadrotor working in GPS-denied indoor environments, a sparse optical flow algorithm is utilized in our work to estimate the quadrotor's velocity and position. After acquiring the quadrotor's real-time pose information, the pose and position control of a micro quadrotor are accomplished by using PID and PI-D controller. A series of experiments are performed on a home-made quadrotor UAV named Smart-QR. The experimental results show the validity and practicability of the proposed approach.


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    Title :

    Real-time pose estimation and motion control for a quadrotor UAV


    Contributors:
    Yilin Hong (author) / Xueqiu Lin (author) / Yan Zhuang (author) / Yiwen Zhao (author)


    Publication date :

    2014-06-01


    Size :

    899597 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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