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- W2600162816 abstract "This paper presents a low-cost localization system to guide an Unmanned Aerial Vehicle (UAV) in indoor flights, considering an environment with invariant texture and typical indoor illumination. The first contribution of the paper is the proposal of a system to estimate the position and orientation of the UAV, through a multi-sensor fusion scheme, dealing with data provided by a RGB-D sensor, an inertial measurement unit (IMU), an ultrasonic sensor and optical flow-based velocity estimates. A second contribution of the paper is the proposal of a high-level control system to guide the UAV in path-following tasks, involving two controllers: a kinematic one, responsible for generating reference velocities for the vehicle, and a PD one, responsible for tracking such reference velocities, thus characterizing a cascade controller. Experiments with such a localization and control systems, during which abrupt disturbances are applied, were carried out to check the effectiveness of the developed capture and control systems, whose results validate the proposed framework." @default.
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- W2600162816 date "2017-04-01" @default.
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- W2600162816 title "Indoor low-cost localization system for controlling aerial robots" @default.
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- W2600162816 doi "https://doi.org/10.1016/j.conengprac.2017.01.011" @default.
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