Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU
We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for...
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| Vydáno v: | IEEE robotics and automation letters Ročník 2; číslo 2; s. 404 - 411 |
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| Hlavní autoři: | , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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IEEE
01.04.2017
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| ISSN: | 2377-3766, 2377-3766 |
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| Abstract | We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90°, and angular rate of up to 800°/s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations. |
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| AbstractList | We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90°, and angular rate of up to 800°/s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations. |
| Author | Loianno, Giuseppe Kumar, Vijay Brunner, Chris McGrath, Gary |
| Author_xml | – sequence: 1 givenname: Giuseppe surname: Loianno fullname: Loianno, Giuseppe email: loiannog@seas.upenn.edu organization: Gen. Robot., Autom., Sensing, & Perception Lab., Univ. of Pennsylvania, Philadelphia, PA, USA – sequence: 2 givenname: Chris surname: Brunner fullname: Brunner, Chris email: chris@qti.qualcomm.com organization: Qualcomm Technol., Inc., San Diego, CA, USA – sequence: 3 givenname: Gary surname: McGrath fullname: McGrath, Gary email: gmcgrath@qti.qualcomm.com organization: Qualcomm Technol., Inc., San Diego, CA, USA – sequence: 4 givenname: Vijay surname: Kumar fullname: Kumar, Vijay email: kumar@seas.upenn.edu organization: Gen. Robot., Autom., Sensing, & Perception Lab., Univ. of Pennsylvania, Philadelphia, PA, USA |
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| SubjectTerms | Aerial robotics Cameras optimization and optimal control Planning Robot sensing systems sensor-based control State estimation Trajectory Vehicles |
| Title | Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU |
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