Real-time indoor autonomous vehicle test environment

How, Jonathan P.; Bethke, Brett; Frank, A.; Dale, D.; Vian, John

doi:10.1109/mcs.2007.914691

Cited by 356 publications

(110 citation statements)

References 31 publications

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“…In addition, an extended Kalman filter (EKF) framework integrated with MAV dynamic was introduced to improve the performance of the visual measurement system. For example in [17], two stationary and upward-looking cameras were placed on the ground to track four black balls attached to the helicopter. The errors between the positions of the tracked balls and pre-specified references are taken as the visual feedback control input.…”

Section: Previous Research In On-ground Visual Navigation For Mav Posmentioning

confidence: 99%

“…In this situation, either carrying load or computation capacity is no longer considered to be a problem. Even though current studies mainly focus on onboard vision, like the above-mentioned methods, on-ground navigation is worth studying as well [14][15][16][17][18]. However, these systems used only the triangulation method in stereo camera configuration or the PNP (perspective-n-point) method in single camera configuration.…”

Section: Introductionmentioning

confidence: 99%

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A New Combined Vision Technique for Micro Aerial Vehicle Pose Estimation

et al. 2017

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Abstract:In this work, a new combined vision technique (CVT) is proposed, comprehensively developed, and experimentally tested for stable, precise unmanned micro aerial vehicle (MAV) pose estimation. The CVT combines two measurement methods (multi-and mono-view) based on different constraint conditions. These constraints are considered simultaneously by the particle filter framework to improve the accuracy of visual positioning. The framework, which is driven by an onboard inertial module, takes the positioning results from the visual system as measurements and updates the vehicle state. Moreover, experimental testing and data analysis have been carried out to verify the proposed algorithm, including multi-camera configuration, design and assembly of MAV systems, and the marker detection and matching between different views. Our results indicated that the combined vision technique is very attractive for high-performance MAV pose estimation.

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Section: Previous Research In On-ground Visual Navigation For Mav Posmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A New Combined Vision Technique for Micro Aerial Vehicle Pose Estimation

et al. 2017

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“…The longitudinal movement is constituted by the forward velocity caused by the pitch angle θ produced by the moment θ T , and so does the lateral movement. The longitudinal and lateral trajectory controllers are commonly referred to as the outer-loop controllers and can also be easily designed by using conventional linear control techniques, which have been studied in many literatures, such as [4][5][6], so won't be covered here.…”

Section: The Experimental Setup and Descriptionmentioning

confidence: 99%

“…Therefore, multi-rotor UAVs have recently attracted great interest. Also, considerable work exists on various modeling, design, control, and optimization schemes for multi-rotor UAVs [1][2][3][4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Control and Optimization of a Variable-Pitch Quadrotor with Minimum Power Consumption

Sheng

Sun

2016

Energies

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Abstract:Recently, there has been a rapid growth of interest in quadrotors with electric variable-pitch propellers. The control and optimization of such propellers are important factors for improving the flight performance of the vehicles. Therefore, the steady-state identification method to estimate the parameters of the mathematical model of the electric variable-pitch propeller is developed. The steady-state control and optimization scheme with minimum power consumption and the adaptive compensation scheme for the variable-pitch propeller are then proposed, based on which the response performance of the lift force produced by the variable-pitch propeller can be greatly improved by using a cascade compensation scheme. Furthermore, the direct lift-based flight control strategy is presented, which can significantly contribute to the improvement of the flight performance, precisely because the roll, pitch, yaw and vertical channels of the variable-pitch quadrotor are approximately linearized and completely decoupled from each other in this case. The experimental results demonstrate that both the endurance performance and the positioning accuracy of the variable-pitch quadrotor are improved simultaneously by using the proposed method with minimum power consumption.

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“…How et al, [6] presented a real-time indoor autonomous vehicle test environment which was named RAVEN. Ahrens et al, [7] and Abeywardena et al, [8] used the VICON(motion capture system) for observing the quadrotor indoors.…”

Section: Related Workmentioning

confidence: 99%