Inertial aided sensor platform stabilization for multirotor aerial vehicles (CROSBI ID 599706)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
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