Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors

Mellinger, Daniel; Michael, Nathan; Kumar, Vijay

doi:10.1007/978-3-642-28572-1_25

Cited by 239 publications

(303 citation statements)

References 5 publications

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“…Depending on the scaling law used for torque generated by the quadcopter, this leads to angular acceleration that scales either by L −1 or L −2 , both cases indicating that the quadcopter will be much more manoeuvrable 3 . This has resulted in remarkable demonstrations of aerobatic manoeuvres in rooms equipped with real-time tracking and control by external computers, including flying through windows at high speeds 4 and manipulating objects in flight 5 . This enhanced agility, often achieved at the expense of open-loop stability, requires increased emphasis on control -a challenge also exacerbated by the size, weight and power constraints of these small vehicles.…”

Section: Propulsion and Manoeuvrability Considerationsmentioning

confidence: 99%

Science, technology and the future of small autonomous drones

Floreano

Wood

2015

Nature

1,087

552

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Drones, a popular nickname for unmanned aerial vehicles and micro aerial vehicles, often conjure up images of unmanned aeroplanes that fly thousands of miles for espionage and to deploy munitions. However, over the past few years, an increasing number of public and private research laboratories have been working on small, human-friendly drones that one day may autonomously fly in confined spaces and in close proximity to people. The development of these small drones, which is the main focus of this Review, has been supported by the miniaturization and cost reduction of electronic components (microprocessors, sensors, batteries and wireless communication units), largely driven by the portable electronic device industry. These improvements have enabled the prototyping and commercialization of small (typically less than 1 kg) drones at smartphone prices.Small drones will have important socio-economic impacts (Fig. 1). Images from drones that are capable of flying a few metres above the ground will fill a gap between expensive, weather-dependent and lowresolution images provided by satellites and car-based images limited to human-level perspectives and the availability of accessible roads. Specialized flying cameras and cloud-based data analytics will allow farmers to continuously monitor the quality of crop growth. Such platforms will enable construction companies to measure work progress in real time. Drones will let mining companies obtain precise volumetric data of excavations. Energy and infrastructure companies will be able to exhaustively survey pipelines, roads and cables. Humanitarian organizations could immediately assess and adapt aid efforts in continuously changing refugee camps. Transportation drones that are capable of safely taking off and landing in the proximity of buildings and humans will allow developing countries -without a suitable road network -to rapidly deliver goods and to finally unleash the full potential of their e-commerce telecommunication infrastructure. Transportation drones will also help developed countries to improve the quality of service in congested or remote areas, and will enable rescue organizations to quickly deliver medical supplies in the field and on demand. Inspection drones that are capable of flying in confined spaces will help fire-fighting and emergency units to assess dangers faster and more safely, logistic companies to detect cracks in the inner and outer shells of ships, road maintenance companies to measure signs of wear and tear in bridges and tunnels, security companies to improve building safety by monitoring areas outside the range of surveillance cameras, and disaster mitigation agencies to inspect partially collapsed buildings where ground clutter is an obstacle for terrestrial robots. Coordinated teams of autonomous drones will enable missions that last longer than the flight time of a single drone by allowing some drones to temporarily leave the team for battery replacement. Drone teams will permit rescue organizations to quickly deploy dedicated commu...

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Section: Propulsion and Manoeuvrability Considerationsmentioning

confidence: 99%

Science, technology and the future of small autonomous drones

Floreano

Wood

2015

Nature

1,087

552

View full text Add to dashboard Cite

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“…In the last few years, impressive demonstrations of aggressive flight and acrobatics with quadrotors have been presented [1], [2]. Those systems are based on external motion-capture systems such as Vicon 1 or OptiTrack.…”

Section: A Motivationmentioning

confidence: 99%

“…Those systems are based on external motion-capture systems such as Vicon 1 or OptiTrack. 2 However, these setups are expensive, need active cameras, and are limited to small, confined workspaces.…”

Section: A Motivationmentioning

confidence: 99%

Event-based, 6-DOF pose tracking for high-speed maneuvers

Mueggler

Huber

Scaramuzza

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

201

167

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Abstract-In the last few years, we have witnessed impressive demonstrations of aggressive flights and acrobatics using quadrotors. However, those robots are actually blind. They do not see by themselves, but through the "eyes" of an external motion capture system. Flight maneuvers using onboard sensors are still slow compared to those attainable with motion capture systems. At the current state, the agility of a robot is limited by the latency of its perception pipeline. To obtain more agile robots, we need to use faster sensors. In this paper, we present the first onboard perception system for 6-DOF localization during high-speed maneuvers using a Dynamic Vision Sensor (DVS). Unlike a standard CMOS camera, a DVS does not wastefully send full image frames at a fixed frame rate. Conversely, similar to the human eye, it only transmits pixel-level brightness changes at the time they occur with microsecond resolution, thus, offering the possibility to create a perception pipeline whose latency is negligible compared to the dynamics of the robot. We exploit these characteristics to estimate the pose of a quadrotor with respect to a known pattern during high-speed maneuvers, such as flips, with rotational speeds up to 1,200• /s. Additionally, we provide a versatile method to capture ground-truth data using a DVS.

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“…Drone Parrot, Asctec Pelican and LinkQuad 7 in CVG-UPM 8 according to [24] and [27], as shown in the Fig. 10.…”

Section: Uav Modelmentioning

confidence: 99%

Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers

Olivares-Méndez

Suarez-Fernandez

et al. 2013

J Intell Robot Syst

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In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied environments using Monocular Visual-Inertial SLAM-based strategy. The function of this FLC aims to control the heading of Fail-Safe UAV to avoid the obstacle, e.g. wall, bridge, tree line et al, using its real-time and accurate localization information. In the Matlab Simulink-based training framework, the Scaling Factor (SF) is adjusted according to the collision avoidance task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the control performances. After obtained the optimal SF and MF, 64 % of rules has been reduced (from 125 rules to 45 rules), and a large number of real see-and-avoid tests with a quadcopter have done. The simulation and experiment results show that this new proposed FLC can precisely navigates the Fail-Safe UAV to avoid the obstacle, obtaining better performances compared to only SF optimization-based FLC. To our best knowledge, this is the first work to present the optimized FLC using Cross-Entropy method in both SF and MF optimization, and apply it in the UAV.

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Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors

Cited by 239 publications

References 5 publications

Science, technology and the future of small autonomous drones

Science, technology and the future of small autonomous drones

Event-based, 6-DOF pose tracking for high-speed maneuvers

Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers

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