Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments
Name
Ahrens-2009-Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments.pdf
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894.41 KB
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Adobe PDF
Checksum (MD5)
8d1bd4ad04b7f216b0b2d856c9fe5ead
Author(s)
Andrews, Gregory
Levine, Daniel S.
Ahrens, Spencer
How, Jonathan P.
Date Issued
July 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Ahrens, S.; Levine, D.; Andrews, G.; How, J.P.; , "Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments," Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, pp.2643-2648, 12-17 May 2009. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
This paper describes the system architecture and core algorithms for a quadrotor helicopter that uses vision data to navigate an unknown, indoor, GPS-denied environment. Without external sensing, an estimation system that relies only on integrating inertial data will have rapidly drifting position estimates. Micro aerial vehicles (MAVs) are stringently weight-constrained, leaving little margin for additional sensors beyond the mission payload. The approach taken in this paper is to introduce an architecture that exploits a common mission payload, namely a video camera, as a dual-use sensor to aid in navigation. Several core algorithms, including a fast environment mapper and a novel heuristic for obstacle avoidance, are also presented. Finally, drift-free hover and obstacle avoidance flight tests in a controlled environment are presented and analyzed.
MIT Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
http://dx.doi.org/10.1109/ROBOT.2009.5152680
