Name
Title | ||
|---|---|---|
System Identification, Estimation And Control For A Cost Effective Open-Source Quadcopter |
Abstract | ||
|---|---|---|
This paper describes system identification, estimation and control of translational motion and heading angle for a cost effective open-source quadcopter - the MikroKopter. The dynamics of its built-in sensors, roll and pitch attitude controller, and system latencies are determined and used to design a computationally inexpensive multi-rate velocity estimator that fuses data from the built-in inertial sensors and a low-rate onboard laser range finder. Control is performed using a nested loop structure that is also computationally inexpensive and incorporates different sensors. Experimental results for the estimator and closed-loop positioning are presented and compared with ground truth from a motion capture system. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/ICRA.2012.6224896 | 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
Keywords | Field | DocType |
dynamics,sensors,attitude control,vehicle dynamics | Inertial navigation system,Control theory,Control theory,Quadcopter,Control engineering,Attitude control,Inertial measurement unit,Engineering,System identification,Nested loop join,Estimator | Conference |
Volume | Issue | ISSN |
2012 | 1 | 1050-4729 |
Citations | PageRank | References |
3 | 0.70 | 13 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| In-kyu Sa | 1 | 186 | 18.55 |
| Peter I. Corke | 2 | 2495 | 234.29 |