Autonomous flying with quadrocopter using fuzzy control and ArUco markers

被引：39

作者：

Bacik, Jan ^{[1
]}

Durovsky, Frantisek ^{[2
]}

Fedor, Pavol ^{[1
]}

Perdukova, Daniela ^{[1
]}

机构：

[1] Tech Univ Kosice, Fac Elect Engn & Informat, Dept Elect Engn & Mechatron, Letna 9, Kosice 04200, Slovakia

[2] Tech Univ Kosice, Fac Mech Engn, Dept Automat Mechatron & Robot, Pk Komenskeho 8, Kosice 04200, Slovakia

来源：

INTELLIGENT SERVICE ROBOTICS | 2017年 / 10卷 / 03期

关键词：

Quadrocopter; ArUco; Autonomous flying; ROS; Fuzzy control;

D O I：

10.1007/s11370-017-0219-8

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we present an approach which enables a low-cost quadrocopter to fly various trajectories autonomously. Artificial landmarks are used for pose estimation, and a fuzzy controller is utilized to generate steering commands. The presented system can navigate a low-cost quadrocopter along a predefined path without the need for any additional external sensors. In addition to a full description of our system, we also introduce our software package for Robot Operating System, which allows the robotics community to experiment with proposed mapping algorithm.

引用

页码：185 / 194

页数：10

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