Automatic Take Off, Hovering and Landing Control for Miniature Helicopters with Low-Cost Onboard Hardware

Wenzel, Karl E.; Zell, Andreas

doi:10.1007/978-3-642-10284-4_10

Cited by 9 publications

(5 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Finally, previous work has demonstrated successful flight using a similar Wii IR camera and active IR LED markers on a quadrotor [14,15]. The work in this paper builds on these results by combining the relative position measurements from the camera with on-board inertial sensors to create high-rate filtered data.…”

Section: Related Workmentioning

confidence: 89%

See 1 more Smart Citation

Lightweight infrared sensing for relative navigation of quadrotors

Cutler

Michini

How

2013

2013 International Conference on Unmanned Aircraft Systems (ICUAS)

View full text Add to dashboard Cite

Abstract-A lightweight solution for estimating position and velocity relative to a known marker is presented. The marker consists of three infrared (IR) LEDs in a fixed pattern. Using an IR camera with a 100 Hz update rate, the range and bearing to the marker are calculated. This information is then fused with inertial sensor information to produce state estimates at 1 kHz using a sigma point Kalman filter. The computation takes place on a 14 gram custom autopilot, yielding a lightweight system for generating high-rate relative state information. The estimation scheme is compared to data recorded with a motion capture system.

show abstract

Section: Related Workmentioning

confidence: 89%

“…Knowing that the LEDs have a fixed baseline, the Wii remote can calculate range and roll angle relative to the sensor bar [12,16]. Similarly, the sensing technique proposed here utilizes a set of active IR LEDs in a known configuration with the IR camera from a Wii remote to detect the IR points [14,15].…”

Section: Sensing Range and Bearingmentioning

confidence: 99%

Lightweight infrared sensing for relative navigation of quadrotors

Cutler

Michini

How

2013

2013 International Conference on Unmanned Aircraft Systems (ICUAS)

View full text Add to dashboard Cite

show abstract

“…Our previous Wii remote related projects [22] and [21] required an inertial measurement unit with accurate roll and pitch estimates to work properly and did not consider a moving start and landing platform. The current system is able to calculate the current position only by interpreting geometric information.…”

Section: Related Workmentioning

confidence: 99%

Automatic Take Off, Tracking and Landing of a Miniature UAV on a Moving Carrier Vehicle

Wenzel

Masselli

Zell

2010

J Intell Robot Syst

Self Cite

186

View full text Add to dashboard Cite

We present a system consisting of a miniature unmanned aerial vehicle (UAV) and a small carrier vehicle, in which the UAV is capable of autonomously starting from the moving ground vehicle, tracking it at a constant distance and landing on a platform on the carrier in motion.Our visual tracking approach differs from other methods by using low-cost, lightweight commodity consumer hardware. As main sensor we use a Wii remote infrared (IR) camera, which allows robust tracking of a pattern of IR lights in conditions without direct sunlight. The system does not need to communicate with the ground vehicle and works with an onboard 8-bit microcontroller. Nevertheless the position and orientation relative to the IR pattern is estimated at a frequency of approximately 50 Hz. This enables the UAV to fly fully autonomously, performing flight control, self-stabilisation and visual tracking of the ground vehicle.We present experiments in which our UAV performs autonomous flights with a moving ground carrier describing a circular path and where the carrier is rotating. The system provides small errors and allows for safe, autonomous indoor flights.

show abstract

“…The ground station does the calculation in these projects, which leads to restrictions in autonomy. Our setup allows for starting, landing and hovering precisely with low-cost onboard sensors and artificial beacons [12], [13].…”

Section: Introductionmentioning

confidence: 99%

Visual tracking and following of a quadrocopter by another quadrocopter

Wenzel

Masselli

Zell

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

Abstract-We present a follow-the-leader scenario with a system of two small low-cost quadrocopters of different types and configurations.The leader is a Parrot AR.Drone which is controlled by an iPad App utilizing the visual odometry provided by the quadrocopter and pilots it autonomously. The follower is an Asctec Hummingbird which is controlled by an onboard 8-bit microcontroller. Neither communication nor external sensors are required. A custom-built pan/tilt unit and the camera of a Nintendo Wii remote tracks a pattern of infrared lights and allows for online pose estimation. A base station allows for monitoring the behavior but is not required for autonomous flights.Our efficient solution of the perspective-3-point problem allows for estimating the pose of the camera relative to the pattern in six degrees of freedom at a high frequency on the microcontroller. The presented experiments include a scenario in which the follower follows the leader with a constant distance of two meters flying different shapes in narrow, GPS-denied indoor environment.

show abstract

Automatic Take Off, Hovering and Landing Control for Miniature Helicopters with Low-Cost Onboard Hardware

Cited by 9 publications

References 11 publications

Lightweight infrared sensing for relative navigation of quadrotors

Lightweight infrared sensing for relative navigation of quadrotors

Automatic Take Off, Tracking and Landing of a Miniature UAV on a Moving Carrier Vehicle

Visual tracking and following of a quadrocopter by another quadrocopter

Contact Info

Product

Resources

About