DocumentCode
1763744
Title
Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator
Author
Abeywardena, Dinuka ; Kodagoda, Sarath ; Dissanayake, Gamini ; Munasinghe, Rohan
Author_Institution
Centre for Intell. Mechatron. Syst., Univ. of Technol., Sydney, NSW, Australia
Volume
20
Issue
4
fYear
2013
fDate
Dec. 2013
Firstpage
32
Lastpage
39
Abstract
quadrotor microaerial vehicles (MAVs) are simple robotic platforms with regard to their construction. In their basic form, they are no more than two counterrotating propeller pairs attached symmetrically to a rigid crosslike frame, along with the means to control the speed of each individual propeller. This symmetric design has enabled the quadrotor to become a simple but powerful vertical takeoff and landing aerial platform popular among the robotics community.
Keywords
aerospace control; helicopters; mobile robots; novel drift-free velocity estimator; quadrotor MAV; robotic platforms; robotics community; state estimation; symmetric design; Accelerometers; Aircraft navigation; Gyroscopes; Mathematical model; Propellers; Robot sensing systems; Unmanned aerial vehicles;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/MRA.2012.2225472
Filename
6529215
Link To Document