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Paper WeA110.2

Sa, Inkyu (Queensland University of Technology), Corke, Peter (QUT)

System Identification, Estimation and Control for a Cost Effective Open-Source Quadcopter

Scheduled for presentation during the Interactive Session "Interactive Session WeA-1" (WeA110), Wednesday, May 16, 2012, 08:30−09:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Aerial Robotics

Abstract

This paper describes system identification, estimation and control of translational motion and heading angle for a cost effective open-source quadcopter --- the MikroKopter. The dynamics of its built-in sensors, roll and pitch attitude controller, and system latencies are determined and used to design a computationally inexpensive multi-rate velocity estimator that uses data from the built-in inertial sensors and a low-rate onboard laser range finder. Control is performed using a nested loop structure that is also computationally inexpensive and incorporates different sensors. Experimental results for the estimator and closed-loop positioning are presented and compared with ground truth from a motion capture system.

 

 

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