004 Datenverarbeitung; Informatik
Refine
Has Fulltext
- yes (7)
Is part of the Bibliography
- yes (7)
Document Type
- Journal article (6)
- Conference Proceeding (1)
Language
- English (7)
Keywords
- Quadrocopter (3)
- Quadrotor (2)
- navigation (2)
- Autonomous UAV (1)
- DNA storage (1)
- Design and Development (1)
- Flugkörper (1)
- Formation Flight (1)
- Instrument Control Toolbox (1)
- Optical Flow (1)
- Unmanned Aerial Vehicle (1)
- adaptation models (1)
- aerodynamics (1)
- autonomous UAV (1)
- distributed control (1)
- formation flight (1)
- intelligent transportation systems (1)
- intelligent vehicles (1)
- light-gated proteins (1)
- mathematical model (1)
- model following (1)
- multirotors (1)
- nanocellulose (1)
- positioning (1)
- protein chip (1)
- quadcopter (1)
- quadcopters (1)
- robustness (1)
- rotors (1)
- scalable quadcopter (1)
- self-aware computing (1)
- single-electron transistors (1)
- unmanned aerial vehicle (1)
- unmanned aerial vehicles (1)
- vehicle dynamics (1)
- waypoint parameter (1)
Institute
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.