Optical flow-based controller for reactive and relative navigation dedicated to a four rotor rotorcraft

Rondon, Eduardo; Fantoni-Coichot, Isabelle; Sánchez, Anand; Sanahuja, Guillaume

doi:10.1109/iros.2009.5354483

Cited by 13 publications

(11 citation statements)

References 13 publications

(14 reference statements)

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“…1. Preliminary studies and results of this work have been previously presented in two Intelligent Robots and Systems (IROS) conference articles [16,17]. The research presented in this article complements and extends these previous works with substantial information about the quad-rotorcraft UAV platform and the vision system, as well as with additional information about the sensing and control algorithms proposed for navigating autonomously.…”

Section: Introductionmentioning

confidence: 59%

Three-dimensional position and velocity regulation of a quad-rotorcraft using optical flow

Carrillo

Fantoni

Rondon³

et al. 2015

IEEE Trans. Aerosp. Electron. Syst.

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We address the problem of hover flight and translational velocity regulation of a quad-rotorcraft unmanned aerial vehicle (UAV) with the main objective of allowing the vehicle to navigate autonomously. This paper complements and improves previous researches considering multiple-camera systems and nonconventional sensors, which deal only with stabilizing the aerial vehicle in hover or in take-off and landing tasks. A vision system has been implemented to estimate the vehicle's altitude, lateral position, and forward velocity during flights. It is shown that, using visual information, it is possible to develop control strategies for different kinds of flying modes, such as hover flight and forward flight at constant velocity. The stability of the closed-loop system is ensured by implementing a hierarchical control strategy. In the first stage, the performance of the proposed methodologies was validated under a simulation environment, showing satisfactory and promising results. Next, real-time experimental applications, consisting of autonomous hover and forward flight at constant velocity, were successfully achieved, validating the effectiveness of the proposed imaging algorithm and vision-based controller.

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Section: Introductionmentioning

confidence: 59%

Three-dimensional position and velocity regulation of a quad-rotorcraft using optical flow

Carrillo

Fantoni

Rondon³

et al. 2015

IEEE Trans. Aerosp. Electron. Syst.

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“…For this reason the vector provided by the filtering algorithm must be processed to remove the component introduced by the rotational movement of the camera. This is performed using the solution proposed by Rondon [17].…”

Section: Vision System For Navigationmentioning

confidence: 99%

Autonomous navigation, landing and recharge of a quadrotor using artificial vision

Cocchioni

Mancini

Longhi

2014

2014 International Conference on Unmanned Aircraft Systems (ICUAS)

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In this paper a solution to UAV reduced endurance and autonomous flight is proposed. With a complete on-board solution, based on artificial vision, the developed system is able to autonomously take off, navigate and land, recharging its battery by using a dedicated landing platform, both in indoor and outdoor scenarios. The landing platform includes a passive centering system to correct the landing error of the UAV, with a novel design wich reduce cost and increase the safety (thanks to small and isolated electrical contacts) without invasive hardware changes on the drone. The developed vision algorithm provides a fast and accurate measurement of UAV position with respect to the landing platform using a visual target, but at the same time it is able to automatically switch to an estimation of position that is independent from the visual target. This aspect is used during navigation or when the tracking of the target fails, ensuring a continuous position measurement feed to the controllers. The developed control system manages all the different phases of a mission (motor turning on/off, take off, navigation, landing, . . . ) with low control error, ensuring a landing over the landing platform with an error that is lower than 5cm for both x and y axis. The developed software in ROS environment is modular and provides input/output interfaces to receive command, or send data.

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“…For this reason, the vector provided by the filtering algorithm must be processed removing the component introduced by the rotational movement of the camera. This is performed using the solution proposed by Rondon [20]. It was not possible to calculate the accuracy for the position estimated by the navigation vision algorithm, since there was no ground truth localization system.…”

Section: Position Estimation For Navigationmentioning

confidence: 99%

Unmanned Ground and Aerial Vehicles in extended range indoor and outdoor missions

Cocchioni

Pierfelice

Benini

et al. 2014

2014 International Conference on Unmanned Aircraft Systems (ICUAS)

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The capability to instantiate a cooperation among heterogeneous agents is a fundamental feature in mobile robotics. In this paper we focus on the interaction between Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicle (UAV) to extend the endurance of UAV, thanks to a novel landing/recharging platform. The UGV acts as a docking station and hosts the UAV during the indoor/outdoor transition and vice-versa. We designed a platform and a robust landing target to automate the fast recharge of UAV. The synchronization and coordination of cooperation is managed by a Ground Control Station (GCS) developed using a versatile software toolchain based on the integration of Stateflow, auto-generation of Ccode and ROS. All the software components of UAV, UGV and GCS have been developed using ROS. The obtained results show that the UAV is able to land over the UGV with high accuracy (<5cm for both x and y axis) thanks to a visual position estimation algorithm, also in presence of wind (with gust up to 20-25km/h), recharging its batteries in a short time to extend its endurance.

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Optical flow-based controller for reactive and relative navigation dedicated to a four rotor rotorcraft

Cited by 13 publications

References 13 publications

Three-dimensional position and velocity regulation of a quad-rotorcraft using optical flow

Three-dimensional position and velocity regulation of a quad-rotorcraft using optical flow

Autonomous navigation, landing and recharge of a quadrotor using artificial vision

Unmanned Ground and Aerial Vehicles in extended range indoor and outdoor missions

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