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
收藏
页码：462 / 467
页数：6
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