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Real-time pose estimation and motion control for a quadrotor UAV
Hong, Yilin; Lin, Xueqiu; Zhuang Y(庄严); Zhao YW(赵忆文)
作者部门机器人学研究室
会议名称11th World Congress on Intelligent Control and Automation (WCICA 2014)
会议日期June 29 - July 4, 2014
会议地点Shenyang, China
会议录名称Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码2370-2375
收录类别EI ; CPCI(ISTP)
EI收录号20152600977587
WOS记录号WOS:000393066202066
产权排序2
ISBN号978-1-4799-5825-2
关键词Quadrotor Cubature Kalman Filter Pose Estimation Motion Control Optical Flow
摘要Real-time pose estimation and reliable motion control are two crucial tasks for a quadrotor UAV. In order to obtain accurate and robust pose estimation, an estimation algorithm based on Cubature Kalman Filter (CKF) is adopted in this paper. Considering the limitation of a quadrotor working in GPS-denied indoor environments, a sparse optical flow algorithm is utilized in our work to estimate the quadrotor's velocity and position. After acquiring the quadrotor's real-time pose information, the pose and position control of a micro quadrotor are accomplished by using PID and PI-D controller. A series of experiments are performed on a home-made quadrotor UAV named Smart-QR. The experimental results show the validity and practicability of the proposed approach.
语种英语
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被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/16931
专题机器人学研究室
作者单位1.School of Control Science and Engineering, Dalian University of Technology, Dalian, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Hong, Yilin,Lin, Xueqiu,Zhuang Y,et al. Real-time pose estimation and motion control for a quadrotor UAV[C]. Piscataway, NJ, USA:IEEE,2014:2370-2375.
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