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An Autonomous UAV with an Optical Flow Sensor for Positioning and Navigation

Please always quote using this URN: urn:nbn:de:bvb:20-opus-96368
  • 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 purposesA 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.show moreshow less

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Metadaten
Author: Nils Gageik, Michael Strohmeier, Sergio Montenegro
URN:urn:nbn:de:bvb:20-opus-96368
Document Type:Journal article
Faculties:Fakultät für Mathematik und Informatik / Institut für Informatik
Language:English
Parent Title (English):International Journal of Advanced Robotic Systems
Year of Completion:2013
Source:In: International Journal of Advanced Robotic Systems (2013) 10: 341, doi:10.5772/56813
DOI:https://doi.org/10.5772/56813
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Tag:Autonomous UAV; Optical Flow; Quadrocopter; Quadrotor; navigation; positioning
Release Date:2014/04/29
Collections:Open-Access-Publikationsfonds / Förderzeitraum 2013
Licence (German):License LogoCC BY: Creative-Commons-Lizenz: Namensnennung