High-speed autonomous quadrotor navigation through visual and inertial paths

Do, Tien Van; Carrillo-Arce, Luis C.; Roumeliotis, Stergios I.

doi:10.1177/0278364918786575

Cited by 25 publications

(18 citation statements)

References 26 publications

(45 reference statements)

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“…Moreover, the proposed controllers in their work were designed based on the near hover condition. Compared to our controllers, the controller presented in [24] cannot make the system recover from an upside-down position. A path following controller was also presented for quadrotors in [25], which was designed to follow splines in the output space of the system using Frenet-Serret frames.…”

Section: A Related Workmentioning

confidence: 92%

“…The smooth transition between the linear and nonlinear modes was proven based on mathematical analysis; however, our work is significantly different than their work as our controller guarantees path following for a large class of both closed and non-closed curves in the three-dimensional space. In [24], the authors addressed the problem of quadrotor navigation in an indoor environment. The quadrotor dynamics were expressed using Euler angles, that leads to local results.…”

Section: A Related Workmentioning

confidence: 99%

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Path Following for a Class of Underactuated Systems Using Global Parameterization

2020

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A large number of both aerial and underwater mobile robots fall in the category of underactuated systems that are defined on a manifold, which is not isomorphic to Euclidean space. Traditional approaches to designing controllers for such systems include geometric approaches and local coordinatebased representations. In this paper, we propose a global parameterization of the special orthogonal group, denoted by SO(3), to design path-following controllers for underactuated systems. In particular, we present a nine-dimensional representation of SO(3) that leads to controllers achieving path-invariance for a large class of both closed and non-closed embedded curves. On the one hand, this over-parameterization leads to a simple set of differential equations and provides a global non-ambiguous representation of systems as compared to other local or minimal parametric approaches. On the other hand, this over-parameterization also leads to uncontrolled internal dynamics, which we prove to be bounded and stable. The proposed controller, when applied to a quadrotor system, is capable of recovering the system from challenging situations such as initial upside-down orientation and also capable of performing multiple flips. INDEX TERMS Feedback linearization, nonlinear control, path following, quadrotor, underactuated system.

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Section: A Related Workmentioning

confidence: 92%

Section: A Related Workmentioning

confidence: 99%

Path Following for a Class of Underactuated Systems Using Global Parameterization

2020

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“…In [13][14][15] simultaneous localization and mapping (SLAM) approaches are used as an alternative to GNSS indoors. In [16], a quadrotor indoor navigation algorithm based on position-based visual servoing was suggested, while indoor quadrotor navigation based on visual markers for quadrotor position computation was used for library inventory and book localization was suggested in [17]. Both visual positioning systems and SLAM rely on a camera as a main sensor.…”

Section: Introductionmentioning

confidence: 99%

QuadNet: A Hybrid Framework for Quadrotor Dead Reckoning

Shurin

Klein

2022

Sensors

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Quadrotor usage is continuously increasing for both civilian and military applications such as surveillance, mapping, and deliveries. Commonly, quadrotors use an inertial navigation system combined with a global navigation satellite systems receiver for outdoor applications and a camera for indoor/outdoor applications. For various reasons, such as lighting conditions or satellite signal blocking, the quadrotor’s navigation solution depends only on the inertial navigation system solution. As a consequence, the navigation solution drifts in time due to errors and noises in the inertial sensor measurements. To handle such situations and bind the solution drift, the quadrotor dead reckoning (QDR) approach utilizes pedestrian dead reckoning principles. To that end, instead of flying the quadrotor in a straight line trajectory, it is flown in a periodic motion, in the vertical plane, to enable peak-to-peak (two local maximum points within the cycle) distance estimation. Although QDR manages to improve the pure inertial navigation solution, it has several shortcomings as it requires calibration before usage, provides only peak-to-peak distance, and does not provide the altitude of the quadrotor. To circumvent these issues, we propose QuadNet, a hybrid framework for quadrotor dead reckoning to estimate the quadrotor’s three-dimensional position vector at any user-defined time rate. As a hybrid approach, QuadNet uses both neural networks and model-based equations during its operation. QuadNet requires only the inertial sensor readings to provide the position vector. Experimental results with DJI’s Matrice 300 quadrotor are provided to show the benefits of using the proposed approach.

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“…The indoor quadrotor localization integrated by inertial navigation system (INS) and ultra wide band (UWB) was proposed by Xu et al (2020b). A high-speed autonomous quadrotor navigation through visual and inertial paths was proposed (Do, Carrillo-Arce & Roumeliotis, 2019). Autonomous vision-based micro air vehicle for indoor and outdoor navigation was investigated in Schmid et al (2014).…”

Section: Introductionmentioning

confidence: 99%

Neural network assisted Kalman filter for INS/UWB integrated seamless quadrotor localization

Shen

et al. 2021

PeerJ Computer Science

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Due to some harsh indoor environments, the signal of the ultra wide band (UWB) may be lost, which makes the data fusion filter can not work. For overcoming this problem, the neural network (NN) assisted Kalman filter (KF) for fusing the UWB and the inertial navigation system (INS) data seamlessly is present in this work. In this approach, when the UWB data is available, both the UWB and the INS are able to provide the position information of the quadrotor, and thus, the KF is used to provide the localization information by the fusion of position difference between the INS and the UWB, meanwhile, the KF can provide the estimation of the INS position error, which is able to assist the NN to build the mapping between the state vector and the measurement vector off-line. The NN can estimate the KF’s measurement when the UWB data is unavailable. For confirming the effectiveness of the proposed method, one real test has been done. The test’s results demonstrate that the proposed NN assisted KF is effective to the fusion of INS and UWB data seamlessly, which shows obvious improvement of localization accuracy. Compared with the LS-SVM assisted KF, the proposed NN assisted KF is able to reduce the localization error by about 54.34%.

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High-speed autonomous quadrotor navigation through visual and inertial paths

Cited by 25 publications

References 26 publications

Path Following for a Class of Underactuated Systems Using Global Parameterization

Path Following for a Class of Underactuated Systems Using Global Parameterization

QuadNet: A Hybrid Framework for Quadrotor Dead Reckoning

Neural network assisted Kalman filter for INS/UWB integrated seamless quadrotor localization

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