Title :
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
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;
Conference_Titel :
Electronics, Communications and Control (ICECC), 2011 International Conference on
Conference_Location :
Ningbo
Print_ISBN :
978-1-4577-0320-1
DOI :
10.1109/ICECC.2011.6067625
