TY  - JOUR
A1  - Gageik, Nils
A1  - Strohmeier, Michael
A1  - Montenegro, Sergio
T1  - Waypoint flight parameter comparison of an autonomous UAV
JF  - 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
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-96833
ER  - 
TY  - JOUR
A1  - Gageik, Nils
A1  - Strohmeier, Michael
A1  - Montenegro, Sergio
T1  - An Autonomous UAV with an Optical Flow Sensor for Positioning and Navigation
JF  - International Journal of Advanced Robotic Systems
N2  - A procedure to control all six DOF (degrees of freedom) of a UAV (unmanned aerial vehicle) without an external reference system and to enable fully autonomous flight is presented here. For 2D positioning the principle of optical flow is used. Together with the output of height estimation, fusing ultrasonic, infrared and inertial and pressure sensor data, the 3D position of the UAV can be computed, controlled and steered. All data processing is done on the UAV. An external computer with a pathway planning interface is for commanding purposes only. The presented system is part of the AQopterI8 project, which aims to develop an autonomous flying quadrocopter for indoor application. The focus of this paper is 2D positioning using an optical flow sensor. As a result of the performed evaluation, it can be concluded that for position hold, the standard deviation of the position error is 10cm and after landing the position error is about 30cm.
KW  - Autonomous UAV
KW  - Quadrocopter
KW  - Quadrotor
KW  - Optical Flow
KW  - positioning
KW  - navigation
Y1  - 2013
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-96368
ER  -