Multi-Sensory Motion Estimation and Control of a Mini-Quadrotor in an Air-Ground Multi-Robot System

摘要：

An air-ground multi-robot system is designed for the purpose of applying bio-inspired sensor-motor modeling on technical systems. It consists of a flying mini-quadrotor equipped with inertial and visual sensors, and a wheeled minirobot equipped with active markers. The system modules, a multi-sensory pose/motion estimation approach and a closedloop control of the flying quadrotor are described in this paper. The quadrotor can hover over the ground robot stably and track the ground robot movement. An accurate pose estimation is verifled by a comparison between the estimated quadrotor pose and the actual pose during the flight.

作者: Tianguang Zhang Wei Li Markus Achtelik Kolja Kühnlenz Martin Buss

作者单位: Institute of Automatic Control Engineering (LSR) Ascending Technologies GmbH,Germany Institute of Automatic Control Engineering (LSR) Institute for Advanced Study (IAS),Technische Unive

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 45-50

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）