GPS-Free navigation for micro aerial vehicles

Shatadal Mishra, Srikanth Saripalli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Accurate position and velocity estimates are required for an efficient and fast navigation of light-weight MAVs in GPS-denied, constrained environments. This paper focuses on the efficient use of LIDAR for altitude hold and downward facing camera for calculating optical flow and providing velocity estimates. An on-board computer was used for sending off- board commands to the quadrotor, which included trajectory co-ordinates. The efficacy of our implementation was analyzed on the DJI F450 and, approximately, 100 flight tests were done at different environmental conditions e.g. indoors and outdoors. The flight tests were done at different velocities, ranging from 0-3.5 m/s, and at different heights, ranging from 0-4 meters to examine the robustness of the integration done.

Original languageEnglish (US)
Title of host publicationAmerican Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
PublisherAmerican Helicopter Society International
Pages189-193
Number of pages5
ISBN (Print)9781510810129
StatePublished - 2015
Event6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations - Chandler, United States
Duration: Jan 20 2015Jan 22 2015

Other

Other6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
CountryUnited States
CityChandler
Period1/20/151/22/15

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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  • Cite this

    Mishra, S., & Saripalli, S. (2015). GPS-Free navigation for micro aerial vehicles. In American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations (pp. 189-193). American Helicopter Society International.