An open-source navigation system for micro aerial vehicles

被引:40
|
作者
Dryanovski, Ivan [1 ]
Valenti, Roberto G. [2 ]
Xiao, Jizhong [2 ]
机构
[1] CUNY, Grad Ctr, Dept Comp Sci, New York, NY 10021 USA
[2] CUNY City Coll, Dept Elect Engn, New York, NY 10031 USA
基金
美国国家科学基金会;
关键词
Micro aerial vehicle; Open-source; Navigation; Quadrotor; State estimation; Control; Mapping; SLAM; Path-planning;
D O I
10.1007/s10514-012-9318-8
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper presents an open-source indoor navigation system for quadrotor micro aerial vehicles (MAVs), implemented in the ROS framework. The system requires a minimal set of sensors including a planar laser range-finder and an inertial measurement unit. We address the issues of autonomous control, state estimation, path-planning, and teleoperation, and provide interfaces that allow the system to seamlessly integrate with existing ROS navigation tools for 2D SLAM and 3D mapping. All components run in real time onboard the MAV, with state estimation and control operating at 1 kHz. A major focus in our work is modularity and abstraction, allowing the system to be both flexible and hardware-independent. All the software and hardware components which we have developed, as well as documentation and test data, are available online.
引用
收藏
页码:177 / 188
页数:12
相关论文
共 50 条
  • [31] The NATURE Autonomy Stack - An open-source stack for off-road navigation
    Goodin, Christopher
    Moore, Marc N.
    Carruth, Daniel W.
    Hudson, Christopher R.
    Cagle, Lucas D.
    Wapnick, Stefan
    Jayakumar, Paramsothy
    UNMANNED SYSTEMS TECHNOLOGY XXVI, 2024, 13055
  • [32] RF Backscatter-based State Estimation for Micro Aerial Vehicles
    Zhang, Shengkai
    Wang, Wei
    Zhang, Ning
    Jiang, Tao
    IEEE INFOCOM 2020 - IEEE CONFERENCE ON COMPUTER COMMUNICATIONS, 2020, : 209 - 217
  • [33] KAZNET: An Open-Source, Micro-Tasking Platform for Remote Locations
    Chelanga, Philemon
    Fava, Francesco
    Alulu, Vincent
    Banerjee, Rupsha
    Naibei, Oscar
    Taye, Masresha
    Berg, Matt
    Galgallo, Diba
    Gobu, Wako
    Lepariyo, Watson
    Muendo, Kavoi
    Jensen, Nathaniel
    FRONTIERS IN SUSTAINABLE FOOD SYSTEMS, 2022, 6
  • [34] A Hybrid SLAM Method for Indoor Micro Aerial Vehicles
    Zheng, Yiwei
    Xu, Yang
    Zhang, Jinpeng
    Luo, Delin
    2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2019, : 651 - 656
  • [35] LoRa Backscatter Assisted State Estimator or Micro Aerial Vehicles With Online Initialization
    Zhang, Shengkai
    Wang, Wei
    Zhang, Ning
    Jiang, Tao
    IEEE TRANSACTIONS ON MOBILE COMPUTING, 2022, 21 (11) : 4038 - 4050
  • [36] Indoor Scene Recognition for Micro Aerial Vehicles Navigation using Enhanced-GIST Descriptors
    Anbarasu, B.
    Anitha, G.
    DEFENCE SCIENCE JOURNAL, 2018, 68 (02) : 129 - 137
  • [37] Exploring the Motivations of Open Innovation: An Empirical Case of Open-Source Hackathon Taipei Open-Source Hackathon
    Liu, Helen K.
    Chao, Shih-Lung
    PROCEEDINGS OF THE 25TH ANNUAL INTERNATIONAL CONFERENCE ON DIGITAL GOVERNMENT RESEARCH, DGO 2024, 2024, : 565 - 573
  • [38] open-UST: An Open-Source Ultrasound Tomography Transducer Array System
    Roberts, Morgan
    Martin, Eleanor
    Brown, Michael D.
    Cox, Ben T.
    Treeby, Bradley E.
    IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL, 2023, 70 (07) : 782 - 791
  • [39] Exploring local micro-climates with an open-source mesh of sensor motes
    Lim, Kenneth Y. T.
    Chan, Collin
    Lee, Richard
    6TH INTERNATIONAL CONFERENCE ON APPLIED HUMAN FACTORS AND ERGONOMICS (AHFE 2015) AND THE AFFILIATED CONFERENCES, AHFE 2015, 2015, 3 : 1458 - 1464
  • [40] Collaborative Localization for Micro Aerial Vehicles
    Vemprala, Sai H.
    Saripalli, Srikanth
    IEEE ACCESS, 2021, 9 : 63043 - 63058