A Vision-Guided Autonomous Quadrotor in An Air-Ground Multi-Robot System

摘要：

In this paper, a vision-guided autonomous quadrotor in an air-ground multi-robot system has been proposed. This quadrotor is equipped with a monocular camera, IMUs and a flight computer, which enables autonomous flights. Two complementary pose/motion estimation methods, respectively marker-based and optical-flow-based, are developed by considering different altitudes in a flight. To achieve smooth take-off, stable tracking and safe landing with respect to a moving ground robot and desired trajectories, appropriate controllers are designed. Additionally, data synchronization and time delay compensation are applied to improve the system performance. Real-time experiments are conducted in both indoor and outdoor environments.

作者: Wei Li Tianguang Zhang Kolja K(u)hnlenz

作者单位: Institute of Imaging & Computer Vision,RWTH Aachen University,52056 Aachen,Germany Institute of Automatic Control Engineering (LSR),Technische Universit(a)t M(u)nchen Institute of Automatic Control Engineering (LSR),Technische Universit(a)t M(u)nchen and Institute fo

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2980-2985

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）