Naslov
Inertial aided sensor platform stabilization for multirotor aerial vehicles

Autori
Cvišić, Igor ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the RAAD 2013 / Nemec, Bojan ; Žlajpah, Leon - Ljubljana : Institut Jožef Stefan, 2013, 72-79

ISBN
978-961-264-064-4

Skup
22nd International Workshop on Robotics in Alpe- Adria-Danube Region

Mjesto i datum
Portorož, Slovenija, 11.09.2013. - 13.09.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
UAV; multirotor; sensor stabilization

Sažetak
Multiple rotor Unmanned Aerial Vehicles (UAVs) are becoming ubiquitous because of their construction simplicity and ease of maintenance. Such UAVs are able to hover, take off and land vertically. In addition, it is straightforward to design an on- board attitude autopilot. In comparison with classical helicopters, multi-rotor aircrafts provide less dangerous testbed in urban and cluttered environments due to their small-size and light- weight blades. In this paper, we present our prototype of aerial vehicle with eight rotors, which carries a unique platform for exteroceptive sensors. We designed inertial aided stabilization of the movement of the platform, decoupling the motion of exteroceptive sensors from the vehicle motion. This directly contributes to improved position and attitude estimation in visual navigation and smoother perception of the environment, and indirectly to achievement of the vehicle autonomy in urban and cluttered environments. The functionalities of the prototype aerial vehicle and the stabilizing platform are tested in simulation and experimentally.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA