Waypoint flight parameter comparison of an autonomous UAV
Zitieren Sie bitte immer diese 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.…
Autor(en): | Nils Gageik, Michael Strohmeier, Sergio Montenegro |
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URN: | urn:nbn:de:bvb:20-opus-96833 |
Dokumentart: | Artikel / Aufsatz in einer Zeitschrift |
Institute der Universität: | Fakultät für Mathematik und Informatik / Institut für Informatik |
Sprache der Veröffentlichung: | Englisch |
Titel des übergeordneten Werkes / der Zeitschrift (Englisch): | International Journal of Artificial Intelligence & Applications (IJAIA) |
Erscheinungsjahr: | 2013 |
Originalveröffentlichung / Quelle: | 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 |
Allgemeine fachliche Zuordnung (DDC-Klassifikation): | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik |
Freie Schlagwort(e): | Quadrocopter; Quadrotor; autonomous UAV; navigation; waypoint parameter |
Datum der Freischaltung: | 30.04.2014 |
Sammlungen: | Open-Access-Publikationsfonds / Förderzeitraum 2013 |
Lizenz (Deutsch): | CC BY: Creative-Commons-Lizenz: Namensnennung |