In-flight collision avoidance controller based only on OS4 embedded sensors

Becker, Marcelo; Sampaio, Rafael C. B.; Bouabdallah, Samir; Perrot, Vincent de; Siegwart, Roland

doi:10.1590/s1678-58782012000300010

Cited by 41 publications

(26 citation statements)

References 63 publications

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“…Because of the rotational symmetry (1) (2) (4) (5) (7) (9) of microflier the integrals over the volume and surface can be reduced to integral over surface and line, respectively. Also for the symmetry around y axis, it can be observed that center of gravity (pressure) will lie on y axis.…”

Section: Stability Of Radiometric Flightmentioning

confidence: 99%

“…The term microaerial vehicle is often used to denote small robotic unmanned aerial vehicles (µUAVs). Quad-rotor based miniature UAVs systems 5-7 present small-scale (centimeter-sized) flying platforms which have achieved controlled flight 8 and obstacle avoidance 9 . Miniature ornithopter UAVs, which are based on flapping wing designs are progressively smaller in size, increasingly autonomous, and incorporate increasing number of sensors [10][11][12] .…”

Section: Introductionmentioning

confidence: 99%

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Untethered microscale flight: mechanisms and platforms for future aerial MEMS microrobots

et al. 2015

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This paper describes initial work on untethered microscale flying structures as a platform for new class of aerial MEMS microrobots. We present and analyze both biomimetic structures based partially on wing designs of smallest flying insects on Earth, as well as stress-engineered structures powered by radiometric (thermal) forces. The latter devices, also called MEMS Microfliers are 300 μm × 300 μm × 1.5 μm in size, and are fabricated out of polycrystalline silicon. A convex chassis, formed through a novel in-situ masked post-release stress-engineering process, ensures their static inflight stability. High-speed optical micrography was used to image these MEMS microfliers in mid-flight, analyzing their flight profile.

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Section: Stability Of Radiometric Flightmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Untethered microscale flight: mechanisms and platforms for future aerial MEMS microrobots

et al. 2015

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“…The motor with propeller dynamics is identified and validated in (Becker et al, 2012). A first-order transfer function is sufficient to present the dynamics of rotor used in quad-rotor type unmanned systems Equation (2):…”

Section: Quad-rotor Kinematicsmentioning

confidence: 99%

“…By contributing the effect of gyroscope, gravitational vector and quad-rotor movement vector (Becker et al, 2012) we can calculate the quad-rotor system dynamic as define in Equation 8:…”

Section: Fig 2 Quad-rotor Body and Earth Inertial Framementioning

confidence: 99%

Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions

Tanveer

Ahmed

Hazry

et al. 2013

American Journal of Applied Sciences

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This article presents a control approach to obtain the better stabilization in attitude and altitude of quad-rotor under different disturbance conditions. In the standard Quad-rotor rotor type UAV, controlling of attitude and altitude is one of the most critical tasks and appropriate controller for stabilization of UAV is essential and necessary. These two controls under various conditions of disturbances was a field of research stimulating for the researchers. The controller proposed is contingent on the PID feedback structure with Extended Kalman Filter (EKF). From Lyapunov Stability Theorem, it is proved that quad-rotor proposed altitude control system is asymptotic as well exponentially stability. Extended Kalman Filter (EKF) is used to filter out the sensors and system noises. Finally, the simulations carried out on MATLAB and the result proved the effectiveness of proposed recommended method for stabilization of attitude and altitude of quad-rotor.

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“…In general, the existing solutions can be divided into two parts: The first part contains simple collision avoidance solutions which are based on avoiding collisions by steering the vehicle into opposite direction using different techniques [1]- [5]. The biggest drawback of such solutions is the intervention into the steering which may not be desirable for the mission of the UAV.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors

2015

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This paper demonstrates an innovative and simple solution for obstacle detection and collision avoidance of unmanned aerial vehicles (UAVs) optimized for and evaluated with quadrotors. The sensors exploited in this paper are low-cost ultrasonic and infrared range finders, which are much cheaper though noisier than more expensive sensors such as laser scanners. This needs to be taken into consideration for the design, implementation, and parametrization of the signal processing and control algorithm for such a system, which is the topic of this paper. For improved data fusion, inertial and optical flow sensors are used as a distance derivative for reference. As a result, a UAV is capable of distance controlled collision avoidance, which is more complex and powerful than comparable simple solutions. At the same time, the solution remains simple with a low computational burden. Thus, memory and time-consuming simultaneous localization and mapping is not required for collision avoidance.INDEX TERMS Collision avoidance, obstacle detection, ultrasonic, infrared, autonomous, UAV, quadrotor, quadrocopter.

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In-flight collision avoidance controller based only on OS4 embedded sensors

Abstract: The major goal of this research was the development and implementation of a control

Cited by 41 publications

References 63 publications

Untethered microscale flight: mechanisms and platforms for future aerial MEMS microrobots

Untethered microscale flight: mechanisms and platforms for future aerial MEMS microrobots

Stabilized Controller Design for Attitude and Altitude Controlling of Quad-Rotor Under Disturbance and Noisy Conditions

Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors

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