TY  - JOUR
A1  - Gageik, Nils
A1  - Strohmeier, Michael
A1  - Montenegro, Sergio
T1  - Waypoint flight parameter comparison of an autonomous UAV
T2  - International Journal of Artificial Intelligence & Applications (IJAIA)
N2  - The present paper compares the effect of different waypoint parameters on the flight performance of a special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus influence the performance of the presented autonomous quadrocopter under real indoor navigation circumstances.
Furthermore the paper demonstrates a drawback of the standard potential field method for navigation of such autonomous quadrocopters and points to an improvement.
KW  - autonomous UAV
KW  - Quadrocopter
KW  - Quadrotor
KW  - waypoint parameter
KW  - navigation
Y1  - 2013
UR  - https://opus.bibliothek.uni-wuerzburg.de/frontdoor/index/index/docId/9683
UR  - https://nbn-resolving.org/urn:nbn:de:bvb:20-opus-96833
ER  -