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.…
Author: | Nils Gageik, Michael Strohmeier, Sergio Montenegro |
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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): | CC BY: Creative-Commons-Lizenz: Namensnennung |