DocumentCode :
2385845
Title :
Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments
Author :
Ahrens, Spencer ; Levine, Daniel ; Andrews, Gregory ; How, Jonathan P.
Author_Institution :
Aerosp. Controls Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA
fYear :
2009
fDate :
12-17 May 2009
Firstpage :
2643
Lastpage :
2648
Abstract :
This paper describes the system architecture and core algorithms for a quadrotor helicopter that uses vision data to navigate an unknown, indoor, GPS-denied environment. Without external sensing, an estimation system that relies only on integrating inertial data will have rapidly drifting position estimates. Micro aerial vehicles (MAVs) are stringently weight-constrained, leaving little margin for additional sensors beyond the mission payload. The approach taken in this paper is to introduce an architecture that exploits a common mission payload, namely a video camera, as a dual-use sensor to aid in navigation. Several core algorithms, including a fast environment mapper and a novel heuristic for obstacle avoidance, are also presented. Finally, drift-free hover and obstacle avoidance flight tests in a controlled environment are presented and analyzed.
Keywords :
aircraft landing guidance; collision avoidance; computer vision; helicopters; image sensors; position control; video cameras; GPS-denied environment; MAV; drifting position estimation; dual-use sensor; hovering vehicle control; micro aerial vehicle; obstacle avoidance; quadrotor helicopter navigation; video camera; vision-based vehicle guidance; Cameras; Control systems; Indoor environments; Land vehicles; Mobile robots; Navigation; Payloads; Remotely operated vehicles; Robust stability; Space technology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
ISSN :
1050-4729
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2009.5152680
Filename :
5152680
Link To Document :
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