Paper Info
Title
Toward 30-gram Autonomous Indoor Aircraft: Vision-based Obstacle Avoidance and Altitude Control
Abstract
We aim at developing autonomous micro- flyers capable of navigating within houses or small built environments. The severe weight and energy constraints of indoor flying platforms led us to take inspiration from flying insects for the selection of sensors, signal processing, and behaviors. This paper presents the control strategies enabling obstacle avoidance and altitude control using only optic flow and gyroscopic information. For experimental convenience, the control strategies are first implemented and tested separately on a small wheeled robot featuring the same hardware as the targeted aircraft. The obstacle avoidance system is then transferred to a 30-gram aircraft, which demonstrates autonomous steering within a square textured arena. Index Terms—Indoor flying robot, optic flow, steering
Year
DOI
Venue
2005
10.1109/ROBOT.2005.1570504
ICRA
Keywords
Field
DocType
Indoor flying robot,altitude control,collision avoidance,optic flow,steering control,Indoor flying robot,altitude control,collision avoidance,optic flow,steering control
Altitude control,Obstacle avoidance,Signal processing,Gyroscope,Optical control,Control engineering,Vision based,Engineering,Robot,Mobile robot
Conference
Volume
Issue
ISSN
2005
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-8914-X
32
3.19
References 
Authors
10
2
Name
Order
Citations
PageRank
Jean-Christophe Zufferey146746.55
Dario Floreano23400284.98