Design and implementation of a low cost mini quadrotor for vision based maneuvers in GPS denied environments
Design and implementation of a low cost mini quadrotor for vision based maneuvers in GPS denied environments
This paper presents the design and implementation detail of an advanced mini quadrotor system, including the low cost commercial-off-the-shelf (COTS) electronics and advanced control algorithm. The proposed quadrotor has a gross takeoff weight of 758g and 360mm frame diagonal size. It is capable of semi-autonomous maneuver in GPS denied environments, solely relying on onboard sensors and computers. A globally defined quadrotor model is formularized, and a nonlinear velocity tracking controller is implemented on the special Euclidean group SE(3). An optical flow and ultrasonic-based onboard downward-facing camera is used as the primary sensor to provide velocity and altitude measurement feedback for the controller. The control and sensor fusion algorithm is developed under Arduino compatible open source electronics.
GPS denied, maneuvers, optical flow, robust control
185-196
Liu, Chang
7c245137-3dbb-41c6-84e6-e40181b25a0d
Prior, Stephen D.
0285f884-fbef-4a5d-8e04-66aba32d1c17
Scanlan, James P.
7ad738f2-d732-423f-a322-31fa4695529d
1 July 2016
Liu, Chang
7c245137-3dbb-41c6-84e6-e40181b25a0d
Prior, Stephen D.
0285f884-fbef-4a5d-8e04-66aba32d1c17
Scanlan, James P.
7ad738f2-d732-423f-a322-31fa4695529d
Liu, Chang, Prior, Stephen D. and Scanlan, James P.
(2016)
Design and implementation of a low cost mini quadrotor for vision based maneuvers in GPS denied environments.
Unmanned Systems, 4 (3), .
(doi:10.1142/S2301385016500059).
Abstract
This paper presents the design and implementation detail of an advanced mini quadrotor system, including the low cost commercial-off-the-shelf (COTS) electronics and advanced control algorithm. The proposed quadrotor has a gross takeoff weight of 758g and 360mm frame diagonal size. It is capable of semi-autonomous maneuver in GPS denied environments, solely relying on onboard sensors and computers. A globally defined quadrotor model is formularized, and a nonlinear velocity tracking controller is implemented on the special Euclidean group SE(3). An optical flow and ultrasonic-based onboard downward-facing camera is used as the primary sensor to provide velocity and altitude measurement feedback for the controller. The control and sensor fusion algorithm is developed under Arduino compatible open source electronics.
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More information
Accepted/In Press date: 23 March 2016
e-pub ahead of print date: 16 June 2016
Published date: 1 July 2016
Keywords:
GPS denied, maneuvers, optical flow, robust control
Organisations:
Computational Engineering & Design Group
Identifiers
Local EPrints ID: 397479
URI: http://eprints.soton.ac.uk/id/eprint/397479
ISSN: 2301-3850
PURE UUID: 592285b8-a5c2-4b8c-be86-9248bb760a89
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Date deposited: 01 Jul 2016 13:35
Last modified: 25 May 2024 04:01
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Contributors
Author:
Chang Liu
Author:
Stephen D. Prior
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