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Inertial aided sensor platform stabilization for multirotor aerial vehicles (CROSBI ID 599706)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Cvišić, Igor ; Petrović, Ivan Inertial aided sensor platform stabilization for multirotor aerial vehicles // Proceedings of the RAAD 2013 / Nemec, Bojan ; Žlajpah, Leon (ur.). Ljubljana: Institut Jožef Stefan, 2013. str. 72-79

Podaci o odgovornosti

Cvišić, Igor ; Petrović, Ivan

engleski

Inertial aided sensor platform stabilization for multirotor aerial vehicles

Multiple rotor Unmanned Aerial Vehicles (UAVs) are becoming ubiquitous because of their construction simplicity and ease of maintenance. Such UAVs are able to hover, take off and land vertically. In addition, it is straightforward to design an on- board attitude autopilot. In comparison with classical helicopters, multi-rotor aircrafts provide less dangerous testbed in urban and cluttered environments due to their small-size and light- weight blades. In this paper, we present our prototype of aerial vehicle with eight rotors, which carries a unique platform for exteroceptive sensors. We designed inertial aided stabilization of the movement of the platform, decoupling the motion of exteroceptive sensors from the vehicle motion. This directly contributes to improved position and attitude estimation in visual navigation and smoother perception of the environment, and indirectly to achievement of the vehicle autonomy in urban and cluttered environments. The functionalities of the prototype aerial vehicle and the stabilizing platform are tested in simulation and experimentally.

UAV; multirotor; sensor stabilization

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Podaci o prilogu

72-79.

2013.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the RAAD 2013

Nemec, Bojan ; Žlajpah, Leon

Ljubljana: Institut Jožef Stefan

978-961-264-064-4

Podaci o skupu

22nd International Workshop on Robotics in Alpe- Adria-Danube Region

predavanje

11.09.2013-13.09.2013

Portorož, Slovenija

Povezanost rada

Elektrotehnika, Temeljne tehničke znanosti