Pregled bibliografske jedinice broj: 773386
State estimation, robust control and obstacle avoidance for multicopter in cluttered environments: EuRoC experience and results
State estimation, robust control and obstacle avoidance for multicopter in cluttered environments: EuRoC experience and results // International Conference on Unmanned Aircraft Systems (ICUAS) 2015
Denver (CO), Sjedinjene Američke Države, 2015. str. 455-461 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 773386 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
State estimation, robust control and obstacle avoidance for multicopter in cluttered environments: EuRoC experience and results
Autori
Orsag, Matko ; Haus, Tomislav ; Palunko, Ivana ; Bogdan, Stjepan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
International Conference on Unmanned Aircraft Systems (ICUAS) 2015
/ - , 2015, 455-461
Skup
International Conference on Unmanned Aircraft Systems (ICUAS) 2015
Mjesto i datum
Denver (CO), Sjedinjene Američke Države, 07.06.2015. - 10.06.2015
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
UAV ; robust control ; trajectory planning
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
