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Attitude stabilization of a small-scaled quadrotor in GPS-denied environments

: Tretyakov, V.
: Surmann, H.; Plöger, P.-G.

Volltext urn:nbn:de:0011-n-1631478 (11 MByte PDF)
MD5 Fingerprint: 029081d0057d56daf04e9723f19670ea
Erstellt am: 26.5.2011

Sankt Augustin, 2010, 63 S.
Sankt Augustin, Hochschule Bonn-Rhein-Sieg, Master Thesis, 2010
Master Thesis, Elektronische Publikation
Fraunhofer IAIS ()
robotics; quadrotor; UAV; ICP; SLAM; optical flow; laser scanner

This report presents an approach on a quadrotor dynamics stabilization based on ICP SLAM. Because the quadrotor lacks sensory information to detect its horizontal drift an additional sensor as Hokuyo-UTM has been used to perform on-line ICP-based SLAM. The obtained position estimates were used in control loops to maintain desired position and orientation of the vehicle. Such attitude parameters as height, yaw and position in space were controlled based on the laser data. As a result the quadrotor demonstrated two significant for autonomous navigation capabilities: performance of on-line SLAMon a flying vehicle and maintaining desired position in 3D space. Visual approach on optical flow based on Pyramid Lucas-Kanade algorithm has been touched and tested in different environmental conditions though hasn't been implemented in the control loop. Also the performance of the Hokuyo laser scanner and the related to it ICP SLAM algorithm have been tested in different environmental conditions indoors, outdoors and in presence of smoke. Results are presented and discussed. The requirement of performing on-line SLAM algorithm and to carry quite heavy equipment for it forced to seek a solution to increase the payload of the quadrotor with its computational power. A new hardware and distributed software architectures are therefore presented in the report.