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
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;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2012.2225472
