A Study on Hovering Control of Small Aerial Robot by Sensing Existing Floor Features
文献类型：期刊论文
| 作者 | Chinthaka Premachandra; Dang Ngoc Hoang Thanh; Tomotaka Kimura; Hiroharu Kawanaka |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:4页码:1016-1025 |
| 关键词 | Hovering control light weight algorithm development image processing self-position estimation small aerial robot tile corner sensing |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2020.1003240 |
| 英文摘要 | Since precise self-position estimation is required for autonomous flight of aerial robots, there has been some studies on self-position estimation of indoor aerial robots. In this study, we tackle the self-position estimation problem by mounting a small downward-facing camera on the chassis of an aerial robot. We obtain robot position by sensing the features on the indoor floor. In this work, we used the vertex points (tile corners) where four tiles on a typical tiled floor connected, as an existing feature of the floor. Furthermore, a small lightweight microcontroller is mounted on the robot to perform image processing for the on-board camera. A lightweight image processing algorithm is developed. So, the real-time image processing could be performed by the microcontroller alone which leads to conduct on-board real time tile corner detection. Furthermore, same microcontroller performs control value calculation for flight commanding. The flight commands are implemented based on the detected tile corner information. The above mentioned all devices are mounted on an actual machine, and the effectiveness of the system was investigated. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43009]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Chinthaka Premachandra,Dang Ngoc Hoang Thanh,Tomotaka Kimura,et al. A Study on Hovering Control of Small Aerial Robot by Sensing Existing Floor Features[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(4):1016-1025. |
| APA | Chinthaka Premachandra,Dang Ngoc Hoang Thanh,Tomotaka Kimura,&Hiroharu Kawanaka.(2020).A Study on Hovering Control of Small Aerial Robot by Sensing Existing Floor Features.IEEE/CAA Journal of Automatica Sinica,7(4),1016-1025. |
| MLA | Chinthaka Premachandra,et al."A Study on Hovering Control of Small Aerial Robot by Sensing Existing Floor Features".IEEE/CAA Journal of Automatica Sinica 7.4(2020):1016-1025. |
入库方式： OAI收割
来源：自动化研究所
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