Vision-IMU based collaborative control of a blind UAV

R. Hoogervorst, S. Stramigioli, H. W. Wopereis, M. Fumagalli
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引用次数: 4

Abstract

Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome situations in which a UAV is blind, i.e. situations in which its onboard position sensors and estimates fail, by utilizing vision data from an external UAV. The paper demonstrates that by means of a collaborative approach, aimed at fusing information of multiple aerial vehicles, it is still possible to control the position of an UAV with onboard sensor fail. The method makes use of vision measurements from an external UAV in combination with the on-board IMU measurements of the main UAV to create a reliable position estimate. Indoor experiments demonstrate that position control is possible using this estimate.
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基于视觉- imu的盲无人机协同控制
无人机的位置估计通常使用机载传感器,如GPS和相机。然而,在某些实际情况下,无人机的GPS和机载相机的测量可能并不总是可用或可靠的。本文研究了利用外部无人机的视觉数据来克服无人机失明情况的可能性,即其机载位置传感器和估计失败的情况。研究表明,采用以多架飞行器信息融合为目标的协同方法,在机载传感器失效的情况下仍有可能实现对无人机位置的控制。该方法利用外部无人机的视觉测量与主无人机的机载IMU测量相结合来创建可靠的位置估计。室内实验表明,利用该估计可以实现位置控制。
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