TY - GEN
T1 - A Self-contained Teleoperated Quadrotor
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
AU - Odelga, Marcin
AU - Stegagno, Paolo
AU - Kochanek, Nicholas
AU - Bulthoff, Heinrich H.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - Indoor operation of unmanned aerial vehicles (UAV s) poses many challenges due to the lack of GPS signal and cramped spaces. The presence of obstacles in an unfamiliar environment requires reliable state estimation and active algorithms to prevent collisions. In this paper, we present a teleoperated quadrotor UAV platform equipped with an onboard miniature computer and a minimal set of sensors for this task. The platform is capable of highly accurate state-estimation, tracking of desired velocity commanded by the user and ensuring collision-free navigation. The robot estimates its linear velocity through a Kalman filter integration of inertial and optical flow (OF) readings with corresponding distance measurements. An RGB-D camera serves the purpose of providing visual feedback to the operator and depth measurements to build a probabilistic, robo-centric obstacle model, allowing the robot to avoid collisions. The platform is thoroughly validated in experiments in an obstacle rich environment.
AB - Indoor operation of unmanned aerial vehicles (UAV s) poses many challenges due to the lack of GPS signal and cramped spaces. The presence of obstacles in an unfamiliar environment requires reliable state estimation and active algorithms to prevent collisions. In this paper, we present a teleoperated quadrotor UAV platform equipped with an onboard miniature computer and a minimal set of sensors for this task. The platform is capable of highly accurate state-estimation, tracking of desired velocity commanded by the user and ensuring collision-free navigation. The robot estimates its linear velocity through a Kalman filter integration of inertial and optical flow (OF) readings with corresponding distance measurements. An RGB-D camera serves the purpose of providing visual feedback to the operator and depth measurements to build a probabilistic, robo-centric obstacle model, allowing the robot to avoid collisions. The platform is thoroughly validated in experiments in an obstacle rich environment.
UR - http://www.scopus.com/inward/record.url?scp=85063140742&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8463185
DO - 10.1109/ICRA.2018.8463185
M3 - Conference contribution
AN - SCOPUS:85063140742
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 7840
EP - 7847
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 21 May 2018 through 25 May 2018
ER -