Multi-sensory motion estimation and control of a mini-quadrotor in an air-ground multi-robot system

Author

Zhang, Tianguang ; Li, Wei ; Achtelik, Markus ; Kühnlenz, Kolja ; Buss, Martin

Author_Institution

Inst. of Autom. Control Eng. (LSR), Germany

fYear

2009

Firstpage

45

Lastpage

50

Abstract

An air-ground multi-robot system is designed for the purpose of applying bio-inspired sensor-motor modeling on technical systems. It consists of a flying mini-quadrotor equipped with inertial and visual sensors, and a wheeled minirobot equipped with active markers. The system modules, a multi-sensory pose/motion estimation approach and a closed-loop control of the flying quadrotor are described in this paper. The quadrotor can hover over the ground robot stably and track the ground robot movement. An accurate pose estimation is verified by a comparison between the estimated quadrotor pose and the actual pose during the flight.

Keywords

closed loop systems; helicopters; mobile robots; motion control; motion estimation; air-ground multirobot system; bioinspired sensor-motor modeling; closed-loop control; flying miniquadrotor; multisensory motion control; multisensory motion estimation; multisensory pose/motion estimation; technical systems; wheeled minirobot; Biosensors; Cameras; Control systems; Mobile robots; Motion control; Motion estimation; Multirobot systems; Robot sensing systems; Tracking; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Conference_Location

Guilin

Print_ISBN

978-1-4244-4774-9

Electronic_ISBN

978-1-4244-4775-6

Type

conf

DOI

10.1109/ROBIO.2009.5420631

Filename

5420631