Abstract
In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment.
Original language | English |
---|---|
Pages (from-to) | 87-92 |
Number of pages | 6 |
Journal | IFAC Proceedings Volumes (IFAC-PapersOnline) |
Volume | 2 |
Issue number | PART 1 |
DOIs | |
Publication status | Published - 2013 |
Event | 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France Duration: 2013 Nov 20 → 2013 Nov 22 |
ASJC Scopus subject areas
- Control and Systems Engineering