ICRA'09 Paper Abstract


Paper FrD5.4

Kendoul, Farid (Chiba University), Zhenyu, Yu (Chiba university), Nonami, Kenzo (Chiba Univ.)

Embedded Autopilot for Accurate Waypoint Navigation and Trajectory Tracking: Application to Miniature Rotorcraft UAVs

Scheduled for presentation during the Regular Sessions "Aerial Navigation" (FrD5), Friday, May 15, 2009, 16:30−16:50, Room: 403

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Aerial Robotics, Autonomous Navigation


In this paper, we describe a miniature flight platform weighting less than 700 grams and capable of waypoint navigation, trajectory tracking, precise hovering and automatic takeoff and landing. In an effort to make advanced autonomous behaviors available to mini and micro rotorcraft, a lightweight/portable and inexpensive Guidance, Navigation, and Control system (GN&C) was developed. To compensate the weaknesses of the low-cost equipment, we put our efforts in obtaining a model-based nonlinear controller. The GN&C system was implemented on small four rotor helicopter. Flight test results that demonstrate the operation of the GN&C algorithms on a real RUAV are presented.



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