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A general purpose configurable controller for indoors and outdoors GPS-Denied navigation for multirotor unmanned aerial vehicles

AuthorsPestana, Jesús ; Mellado-Bataller, I.; Sánchez-López, José L.; Mondragón, Iván F.; Campoy, Pascual
KeywordsUnmanned aerial vehicles
Multirotor modeling and state estimation
Micro aerial vehicles
Aerial robotics
Autonomous navigation
Computer vision
Control architectures and programming
Control of UAVs
Issue Date2014
PublisherKluwer Academic Publishers
CitationJournal of Intelligent and Robotic Systems: Theory and Applications 73: 387- 400 (2014)
AbstractThis research on odometry based GPS-denied navigation on multirotor Unmanned Aerial Vehicles is focused among the interactions between the odometry sensors and the navigation controller. More precisely, we present a controller architecture that allows to specify a speed specified flight envelope where the quality of the odometry measurements is guaranteed. The controller utilizes a simple point mass kinematic model, described by a set of configurable parameters, to generate a complying speed plan. For experimental testing, we have used down-facing camera optical-flow as odometry measurement. This work is a continuation of prior research to outdoors environments using an AR Drone 2.0 vehicle, as it provides reliable optical flow on a wide range of flying conditions and floor textures. Our experiments show that the architecture is realiable for outdoors flight on altitudes lower than 9 m. A prior version of our code was utilized to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012. The code will be released as an open-source ROS stack hosted on GitHub.
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