中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Real-time pose estimation and motion control for a quadrotor UAV
作者: 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: Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 2370-2375
收录类别: EI
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
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/16931
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Real-time pose estimation and motion control for a quadrotor UAV.pdf(878KB)会议论文--开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Hong, Yilin]'s Articles
[Lin, Xueqiu]'s Articles
[Zhuang Y(庄严)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Hong, Yilin]‘s Articles
[Lin, Xueqiu]‘s Articles
[Zhuang Y(庄严)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Real-time pose estimation and motion control for a quadrotor UAV.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace