AR-Drone as a Platform for Robotic Research and Education

Krajník, Tomáš; Vonásek, Vojtĕch; Fišer, Daniel; Faigl, Jan

doi:10.1007/978-3-642-21975-7_16

Cited by 196 publications

(115 citation statements)

References 11 publications

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“…A similar approach is to distribute artificial markers in the environment, simplifying pose estimation [13]. Other approaches learn a map offline from a previously recorded, manual flight and thereby enable a quadrocopter to reproduce the same trajectory [14]. For outdoor flights where accurate GPS-based pose estimation is possible, complete solutions are available as commercial products [15].…”

Section: Related Workmentioning

confidence: 99%

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Scale-aware navigation of a low-cost quadrocopter with a monocular camera

Engel

Sturm

Cremers

2014

Robotics and Autonomous Systems

182

118

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We present a complete solution for the visual navigation of a small-scale, low-cost quadrocopter in unknown environments. Our approach relies solely on a monocular camera as the main sensor, and therefore does not need external tracking aids such as GPS or visual markers. Costly computations are carried out on an external laptop that communicates over wireless LAN with the quadrocopter. Our approach consists of three components: a monocular SLAM system, an extended Kalman filter for data fusion, and a PID controller. In this paper, we (1) propose a simple, yet effective method to compensate for large delays in the control loop using an accurate model of the quadrocopter's flight dynamics, and (2) present a novel, closed-form method to estimate the scale of a monocular SLAM system from additional metric sensors. We extensively evaluated our system in terms of pose estimation accuracy, flight accuracy, and flight agility using an external motion capture system. Furthermore, we compared the convergence and accuracy of our scale estimation method for an ultrasound altimeter and an air pressure sensor with filtering-based approaches. The complete system is available as open-source in ROS. This software can be used directly with a low-cost, off-the-shelf Parrot AR.Drone quadrocopter, and hence serves as an ideal basis for follow-up research projects.

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Section: Related Workmentioning

confidence: 99%

“…Released in 2010 and marketed as a high-tech toy, it has been used and discussed in several research projects [23,24,25].…”

Section: Related Workmentioning

confidence: 99%

Scale-aware navigation of a low-cost quadrocopter with a monocular camera

Engel

Sturm

Cremers

2014

Robotics and Autonomous Systems

182

118

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“…olled quadrotor with cameras attached to it which is dev uses an ARM9 468MHz embedded microcontroller w e Linux operating system [4].The onboard downward Co emiconductor (CMOS) color camera provides RGB ima ertial system uses a 3-axisaccelerometer, 2-axis gyro an gyro. An ultrasonic altimeter with a range of 6 meters p With a weight of 380g or 420git can maintain flight eed of 5m/s.…”

Section: Quadrotormentioning

confidence: 99%

Quadrotor Flight Control Parameters Optimization Based on Chaotic Estimation of Distribution Algorithm

Chu

Duan

2013

Advances in Neural Networks – ISNN 2013

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Abstract.Quadrotor is a type of rotor craft that consists of four rotors and two pairs of counter-rotating, fixed-pitch blades located at the four corners of the body. The flight control parameters optimization is one of the key issues for quadrotor. Estimation of distribution algorithm is a new kind of evolutionary algorithm developed rapidly recently. However, low convergence speed and local optimum of the EDA are the main disadvantages that limit its further application. To overcome the disadvantages of EDA, a chaotic estimation of distribution algorithm is proposed in this paper. It is a combination of chaos theory and principles of estimation of distribution algorithm. Series of experimental comparison results are presented to show the feasibility, effectiveness and robustness of our proposed method. The results show that the proposed chaotic EDA can effectively improve both the global searching ability and the speed of convergence.

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“…Tomas Krajnik ve arkadaşları, Quadrotor'un dinamik modelini ayrıştırılmış model olarak ele almış ve sistemin dinamik modeli için iç-dış kontrolcü tasarımını deneysel olarak gerçekleştirmiştir (Krajnik et al, 2011). Bo Zhao ve arkadaşları, Quadrotor'un yörünge kontrolünü lineer olmayan gürbüz adaptif kontrolcü ile simülasyon ortamında gerçekleştirmiş ve başarılı sonuçlar elde etmişlerdir (Zhao et al, 2015).…”

Section: Introductionunclassified

Real Time Trajectory Tracking Control of a Four Rotor UAV with Backstepping Controller

Can¹,

Başçı²

2016

jist

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ÖZET: Bu çalışmada, sistemin lineer olmayan yapısına bağlı olarak tasarlanan geri adımlamalı kontrol yöntemi ile dört rotorlu bir İnsansız Hava Aracı (İHA) olan Quadrotor'un gerçek zamanlı yörünge takibi gerçekleştirilmiştir. Deneysel çalışmada kullanılan Quadrotor, donanımsal olarak (GPS, sonar, kamera, atalet sensörleri vb.) oldukça düşük maliyetlidir. Tasarlanan geri adımlamalı kontrolcü, donanımsal açıdan zayıf bir sistem üzerinde yüksek verimle çalışmış ve gelecekte tasarlanacak donanımsal açıdan yüksek hassasiyette ölçüm yapabilen sistemler için iyi bir kontrolcü referansı olmuştur. Quadrotor'un kapalı ortamda eğik çember ve zigzag formunda iki ayrı yörüngeyi takibi ile elde edilen sonuçlar incelendiğinde, kontrolcünün meydana gelen hataları istenilen düzeyde elimine ettiği ve sistemdeki sapmaları minimumda tuttuğu görülmüştür.Anahtar sözcükler: Geri adımlamalı kontrol, İHA, quadrotor, yörünge takibi. ABSTRACT:In this study, real-time trajectory tracking control of a four rotor UAV, called Quadrotor, is realized by using backstepping controller which is designed depending on the nonlinearity of the system. Quadrotor used in experiment is a low-cost system and is equipped with GPS, sonar, camera and inertial sensors. Since the designed backstepping controller is worked in a high efficiency on Quadrotor, the controller will be a good reference for the systems, have highly sensitive sensors to do more accurate measurements. When analyzing the indoor experiment results of Quadrotor for tracking oblique circle and zigzag routes, errors are eliminated in desired level and deviations are minimized by backstepping controller for a stable flight.

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AR-Drone as a Platform for Robotic Research and Education

Cited by 196 publications

References 11 publications

Scale-aware navigation of a low-cost quadrocopter with a monocular camera

Scale-aware navigation of a low-cost quadrocopter with a monocular camera

Quadrotor Flight Control Parameters Optimization Based on Chaotic Estimation of Distribution Algorithm

Real Time Trajectory Tracking Control of a Four Rotor UAV with Backstepping Controller

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