State estimation, robust control and obstacle avoidance for multicopter in cluttered environments: EuRoC experience and results (CROSBI ID 626468)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Orsag, Matko ; Haus, Tomislav ; Palunko, Ivana ; Bogdan, Stjepan
engleski
State estimation, robust control and obstacle avoidance for multicopter in cluttered environments: EuRoC experience and results
This paper reports the results of the UNIZG-FER team in the third European Robotics Challenge (EuRoC). More precisely, the results of the 1st qualifying stage of the challenge where a micro aerial vehicle (MAV) is tested in realistic simulation scenarios. The paper presents the entire controller setup, starting from the power distribution level, low level cascade controllers with wind disturbance rejection to high level obstacle avoidance algorithms. The proposed controllers were tested in realistic simulations environments where their effectiveness was evaluated based on objective criteria set by the challenge organizers.
UAV ; robust control ; trajectory planning
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Podaci o prilogu
455-461.
2015.
objavljeno
Podaci o matičnoj publikaciji
International Conference on Unmanned Aircraft Systems (ICUAS) 2015
Podaci o skupu
International Conference on Unmanned Aircraft Systems (ICUAS) 2015
predavanje
07.06.2015-10.06.2015
Denver (CO), Sjedinjene Američke Države