Name
Title | ||
|---|---|---|
Model-aided state estimation for quadrotor micro air vehicles amidst wind disturbances |
Abstract | ||
|---|---|---|
This paper extends the recently developed Model-Aided Visual-Inertial Fusion (MA-VIF) technique for quadrotor Micro Air Vehicles (MAV) to deal with wind disturbances. The wind effects are explicitly modelled in the quadrotor dynamic equations excluding the unobservable wind velocity component. This is achieved by a nonlinear observability of the dynamic system with wind effects. We show that using the developed model, the vehicle pose and two components of the wind velocity vector can be simultaneously estimated with a monocular camera and an inertial measurement unit. We also show that the MA-VIF is reasonably tolerant to wind disturbances, even without explicit modelling of wind effects and explain the reasons for this behaviour. Experimental results using a Vicon motion capture system are presented to demonstrate the effectiveness of the proposed method and validate our claims. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6943246 | Intelligent Robots and Systems |
Keywords | Field | DocType |
aircraft control,image fusion,microrobots,mobile robots,robot dynamics,space vehicles,state estimation,wind,MA-VIF technique,MAV,Vicon motion capture system,dynamic system,inertial measurement unit,model-aided state estimation,model-aided visual-inertial fusion technique,monocular camera,nonlinear observability,quadrotor dynamic equation,quadrotor micro air vehicles,unobservable wind velocity component,vehicle pose,wind disturbances,wind effects,wind velocity vector | Computer science,Control engineering | Conference |
ISSN | Citations | PageRank |
2153-0858 | 3 | 0.44 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dinuka M. W. Abeywardena | 1 | 5 | 0.84 |
| Zhan Wang | 2 | 25 | 2.25 |
| Gamini Dissanayake | 3 | 2226 | 256.36 |
| Steven Lake Waslander | 4 | 443 | 46.89 |
| Sarath Kodagoda | 5 | 388 | 33.46 |