Title :
Estimation and control of the 3D position of a quadrotor in indoor environments
Author :
Vago Santana, Lucas ; Sarcinelli-Filho, Mario ; Carelli, Ricardo
Author_Institution :
Dept. of Ind. Autom., Fed. Inst. of Espirito Santo, Linhares, Brazil
Abstract :
This paper presents a method for the estimation and control of the 3D position of a quadrotor in indoor environments, which can stabilize the aircraft hovering over a reference as well as follow a moving reference. The proposed approach adopts the Extended Kalman Filter - EKF - as framework to fuse the information provided by the sensors available onboard the quadrotor, and a PD controller to regulate the flight. Experimental results are also presented, aiming at demonstrating the effectiveness of the proposed method.
Keywords :
Kalman filters; PD control; aircraft control; autonomous aerial vehicles; helicopters; nonlinear filters; position control; stability; 3D position control; 3D position estimation; EKF; PD controller; UAV; aircraft stabilization; extended Kalman filter; indoor environments; quadrotor; Aircraft; Cameras; Estimation; Sensors; Three-dimensional displays; Vehicles; Visualization;
Conference_Titel :
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location :
Montevideo
DOI :
10.1109/ICAR.2013.6766572
