Vision-assisted hovering control for an indoor micro aerial robot

Author

Zhang, Hongtao ; Li, Longqiu ; Wang, Lin ; Zhang, Guangyu

Author_Institution

Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin, China

fYear

2011

fDate

9-11 Sept. 2011

Firstpage

581

Lastpage

584

Abstract

Micro aerial robots can perform special tasks in narrow indoor environments with tiny size and flexible maneuverability. However, autonomous navigation is still a big challenge for micro aerial robots due to the limited payload for carrying sensors and the limited power of onboard computer. This paper presents a real-time, vision-assisted hovering control strategy for a 30-gram micro aerial robot. The architecture and the dynamic model of the aerial robot are provided. The attitude and position estimate algorithms and the control method are presented. The experimental results demonstrate that the strategy is a good and applicable method for micro aerial robots to hover autonomously in indoor environments.

Keywords

aerospace robotics; attitude control; autonomous aerial vehicles; hovercraft; microrobots; microsensors; position control; robot vision; attitude estimation; autonomous navigation; flexible maneuverability; indoor environment; indoor micro aerial robot; onboard computer; position estimation algorithm; vision-assisted hovering control; Accelerometers; Cameras; Pulse width modulation; Robot vision systems; indoor environments; micro aerial robots; vision-assisted hovering control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Communications and Control (ICECC), 2011 International Conference on

Conference_Location

Ningbo

Print_ISBN

978-1-4577-0320-1

Type

conf

DOI

10.1109/ICECC.2011.6067625

Filename

6067625