Performing autonomous navigation of commercial Micro Air Vehicles (MAVs) in GPS-denied environments without external sensors or a motion capture system is a major challenge in trajectory tracking applications. A convenient solution for this problem is the use of the MAV’s odometry, which uses inertial sensors for pose estimation. However, it can suffer from position drifting over time, which may lead to incorrect pose measurements. Another solution is to use the MAV’s monocular camera for pose estimation, based on visual Simultaneous Localization and Mapping (vSLAM) algorithms. A limitation of this approach is that monocular vSLAM lacks a metric scale, hence, making its use unfeasible for position feedback. In this scenario, we propose a robust navigation system of a MAV based on vSLAM where a metric scale can be estimated using a Kalman Filter (KF), based on odometry information. In this work, we opted for the use of a Robust Linear-Quadratic Regulator (R-LQR), which is a recursive strategy that takes into account parametric uncertainties on the system’s dynamic. We present simulated and experimental results of our approach using a commercial quadrotor to show the effectiveness of the system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous Robust Navigation System for MAV Based on Monocular Cameras


    Beteiligte:


    Erscheinungsdatum :

    21.06.2022


    Format / Umfang :

    1654385 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Autonomous Navigation Algorithm of Monocular UAV Based on Depth Estimation and Robust VIO

    Zhen, XiangYu / Deng, ZhongLiang / Lou, BoYang et al. | IEEE | 2024


    Robust horizon finding algorithm for real-time autonomous navigation based on monocular vision

    Neto, A. M. / Victorino, A. C. / Fantoni, I. et al. | IEEE | 2011


    Robust Motion Estimation for Calibrated Cameras from Monocular Image Sequences

    Wagner, R. / Liu, F. / Donner, K. | British Library Online Contents | 1999


    Autonomous aerial navigation using monocular visual‐inertial fusion

    Lin, Yi / Gao, Fei / Qin, Tong et al. | British Library Online Contents | 2018