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Waypoint flight parameter comparison of an autonomous UAV

Please always quote using this URN: urn:nbn:de:bvb:20-opus-96833
  • 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 thresholdThe 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.show moreshow less

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Metadaten
Author: Nils Gageik, Michael Strohmeier, Sergio Montenegro
URN:urn:nbn:de:bvb:20-opus-96833
Document Type:Journal article
Faculties:Fakultät für Mathematik und Informatik / Institut für Informatik
Language:English
Parent Title (English):International Journal of Artificial Intelligence & Applications (IJAIA)
Year of Completion:2013
Source:In: International Journal of Artificial Intelligence & Applications (IJAIA) (2013) 4: 3, doi:10.5121/ijaia.2013.4304
DOI:https://doi.org/10.5121/ijaia.2013.4304
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Tag:Quadrocopter; Quadrotor; autonomous UAV; navigation; waypoint parameter
Release Date:2014/04/30
Collections:Open-Access-Publikationsfonds / Förderzeitraum 2013
Licence (German):License LogoCC BY: Creative-Commons-Lizenz: Namensnennung