Bio-inspired Landing of Quadrotor using Improved State Estimation

被引：5

作者：

Das, Hemjyoti ^{[1
]}

Sridhar, Kaustubh ^{[2
]}

Padhi, Radhakant ^{[1
]}

机构：

[1] Indian Inst Sci, Dept Aerosp Engn, Bangalore, Karnataka, India

[2] Indian Inst Technol, Dept Aerosp Engn, Bombay, Maharashtra, India

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 01期

关键词：

Tau Guidance; INS-SLAM EKF; Dynamic Inversion; Quadrotor;

D O I：

10.1016/j.ifacol.2018.05.078

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an improved state estimation technique - a fusion of Monocular SLAM (Simultaneous Localization and Mapping) and INS (Inertial Navigation System). It is utilized in landing a commercially available low cost quadrotor (Parrot AR Drone 2.0) in indoor environments along a trajectory generated by a bio-inspired guidance method. The method is based on Tau theory and facilitates safe and smooth landing of UAVs by closing motion gaps with zero relative velocity and acceleration. A depth camera (Microsoft Kinect) provides a helping hand in very accurate landing towards the end of the quadrotor's trajectory. A dynamic inversion based controller is designed which works as a outer loop controller for the quadrotor. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：462 / 467

页数：6

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