Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments
This paper describes the system architecture and core algorithms for a quadrotor helicopter that uses vision data to navigate an unknown, indoor, GPS-denied environment. Without external sensing, an estimation system that relies only on integrating inertial data will have rapidly drifting position e...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/53520 https://orcid.org/0000-0001-8576-1930 |
| _version_ | 1826205971661193216 |
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| author | Andrews, Gregory Levine, Daniel S. Ahrens, Spencer How, Jonathan P. |
| author2 | Massachusetts Institute of Technology. Aerospace Controls Laboratory |
| author_facet | Massachusetts Institute of Technology. Aerospace Controls Laboratory Andrews, Gregory Levine, Daniel S. Ahrens, Spencer How, Jonathan P. |
| author_sort | Andrews, Gregory |
| collection | MIT |
| description | This paper describes the system architecture and core algorithms for a quadrotor helicopter that uses vision data to navigate an unknown, indoor, GPS-denied environment. Without external sensing, an estimation system that relies only on integrating inertial data will have rapidly drifting position estimates. Micro aerial vehicles (MAVs) are stringently weight-constrained, leaving little margin for additional sensors beyond the mission payload. The approach taken in this paper is to introduce an architecture that exploits a common mission payload, namely a video camera, as a dual-use sensor to aid in navigation. Several core algorithms, including a fast environment mapper and a novel heuristic for obstacle avoidance, are also presented. Finally, drift-free hover and obstacle avoidance flight tests in a controlled environment are presented and analyzed. |
| first_indexed | 2024-09-23T13:21:58Z |
| format | Article |
| id | mit-1721.1/53520 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:21:58Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/535202022-09-28T13:42:06Z Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments Andrews, Gregory Levine, Daniel S. Ahrens, Spencer How, Jonathan P. Massachusetts Institute of Technology. Aerospace Controls Laboratory Massachusetts Institute of Technology. Department of Aeronautics and Astronautics How, Jonathan P. Levine, Daniel S. Ahrens, Spencer How, Jonathan P. This paper describes the system architecture and core algorithms for a quadrotor helicopter that uses vision data to navigate an unknown, indoor, GPS-denied environment. Without external sensing, an estimation system that relies only on integrating inertial data will have rapidly drifting position estimates. Micro aerial vehicles (MAVs) are stringently weight-constrained, leaving little margin for additional sensors beyond the mission payload. The approach taken in this paper is to introduce an architecture that exploits a common mission payload, namely a video camera, as a dual-use sensor to aid in navigation. Several core algorithms, including a fast environment mapper and a novel heuristic for obstacle avoidance, are also presented. Finally, drift-free hover and obstacle avoidance flight tests in a controlled environment are presented and analyzed. United States. Air Force Office of Scientific Research (DURIP FA9550-07-1-0321) Charles Stark Draper Laboratory 2010-04-06T19:25:49Z 2010-04-06T19:25:49Z 2009-07 2009-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-2789-5 http://hdl.handle.net/1721.1/53520 Ahrens, S.; Levine, D.; Andrews, G.; How, J.P.; , "Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments," Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, pp.2643-2648, 12-17 May 2009. ©2009 Institute of Electrical and Electronics Engineers. https://orcid.org/0000-0001-8576-1930 en_US http://dx.doi.org/10.1109/ROBOT.2009.5152680 IEEE International Conference on Robotics and Automation, 2009. ICRA '09 Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Andrews, Gregory Levine, Daniel S. Ahrens, Spencer How, Jonathan P. Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments |
| title | Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments |
| title_full | Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments |
| title_fullStr | Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments |
| title_full_unstemmed | Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments |
| title_short | Vision-based guidance and control of a hovering vehicle in unknown, gps-denied environments |
| title_sort | vision based guidance and control of a hovering vehicle in unknown gps denied environments |
| url | http://hdl.handle.net/1721.1/53520 https://orcid.org/0000-0001-8576-1930 |
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