A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance

Marcin Odelga, Paolo Stegagno, Nicholas Kochanek, Heinrich H. Bulthoff

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

1 Citation (Scopus)

Abstract

Indoor operation of unmanned aerial vehicles (UAV s) poses many challenges due to the lack of GPS signal and cramped spaces. The presence of obstacles in an unfamiliar environment requires reliable state estimation and active algorithms to prevent collisions. In this paper, we present a teleoperated quadrotor UAV platform equipped with an onboard miniature computer and a minimal set of sensors for this task. The platform is capable of highly accurate state-estimation, tracking of desired velocity commanded by the user and ensuring collision-free navigation. The robot estimates its linear velocity through a Kalman filter integration of inertial and optical flow (OF) readings with corresponding distance measurements. An RGB-D camera serves the purpose of providing visual feedback to the operator and depth measurements to build a probabilistic, robo-centric obstacle model, allowing the robot to avoid collisions. The platform is thoroughly validated in experiments in an obstacle rich environment.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7840-7847
Number of pages8
ISBN (Electronic)9781538630815
DOIs
Publication statusPublished - 2018 Sep 10
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: 2018 May 212018 May 25

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period18/5/2118/5/25

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Odelga, M., Stegagno, P., Kochanek, N., & Bulthoff, H. H. (2018). A Self-contained Teleoperated Quadrotor: On-Board State-Estimation and Indoor Obstacle Avoidance. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 7840-7847). [8463185] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8463185