A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance

Marcin Odelga; Paolo Stegagno; Nicholas Kochanek; Heinrich H. Bulthoff

doi:10.1109/ICRA.2018.8463185

A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance

Marcin Odelga, Paolo Stegagno, Nicholas Kochanek, Heinrich H. Bulthoff

Department of Brain and Cognitive Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7840-7847
Number of pages	8
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8463185
Publication status	Published - 2018 Sept 10
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: 2018 May 21 → 2018 May 25

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	18/5/21 → 18/5/25

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

Access to Document

10.1109/ICRA.2018.8463185

Cite this

Odelga, M., Stegagno, P., Kochanek, N., & Bulthoff, H. H. (2018). A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 7840-7847). Article 8463185 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8463185

A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance. / Odelga, Marcin; Stegagno, Paolo; Kochanek, Nicholas et al.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 7840-7847 8463185 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Odelga, M, Stegagno, P, Kochanek, N & Bulthoff, HH 2018, A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8463185, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 7840-7847, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 18/5/21. https://doi.org/10.1109/ICRA.2018.8463185

Odelga M, Stegagno P, Kochanek N, Bulthoff HH. A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 7840-7847. 8463185. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8463185

Odelga, Marcin ; Stegagno, Paolo ; Kochanek, Nicholas et al. / A Self-contained Teleoperated Quadrotor : On-Board State-Estimation and Indoor Obstacle Avoidance. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 7840-7847 (Proceedings - IEEE International Conference on Robotics and Automation).

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A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance

Abstract

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Bibliographical note

ASJC Scopus subject areas

Access to Document

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