A visual navigation system for autonomous flight of micro air vehicles
A visual navigation system for autonomous flight of micro air vehicles
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DOI：
10.1109/iros.2009.5354730
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发表时间：
2009-10
期刊：
影响因子：
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通讯作者：
F. Kendoul;K. Nonami
中科院分区：
文献类型：
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作者：
F. Kendoul;K. Nonami
无人机（UAV）的许多应用需要导航到某个目标并执行精确和安全着陆的能力。在本文中，我们提出了一种视觉导航系统作为一种替代的姿态估计方法的环境和情况下，GPS是不可用的。开发的视觉里程表是一个增量的过程，估计车辆的自我运动提取和跟踪视觉功能，使用车载摄像头。为了提高鲁棒性和准确性，视觉估计值与惯性测量单元（IMU）和压力传感器高度计（PSA）的测量值相融合，以提供车辆相对于给定位置的高度、速度和位置的准确估计值。这些估计，然后利用非线性分层控制器实现各种导航任务，如起飞，着陆，悬停，目标跟踪等，除了里程表的描述，本文提出了验证结果，使用小型四旋翼无人机自主飞行。
Many applications of unmanned aerial vehicles (UAVs) require the capability to navigate to some goal and to perform precise and safe landing. In this paper, we present a visual navigation system as an alternative pose estimation method for environments and situations in which GPS is unavailable. The developed visual odometer is an incremental procedure that estimates the vehicle's ego-motion by extracting and tracking visual features, using an onboard camera. For more robustness and accuracy, the visual estimates are fused with measurements from an Inertial Measurement Unit (IMU) and a Pressure Sensor Altimeter (PSA) in order to provide accurate estimates of the vehicle's height, velocity and position relative to a given location. These estimates are then exploited by a nonlinear hierarchical controller for achieving various navigation tasks such as take-off, landing, hovering, target tracking, etc. In addition to the odometer description, the paper presents validation results from autonomous flights using a small quadrotor UAV.