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Bio-inspired Landing of Quadrotor using Improved State Estimation

Das, Hemjyoti and Sridhar, Kaustubh and Padhi, Radhakant (2018) Bio-inspired Landing of Quadrotor using Improved State Estimation. In: 5th IFAC Conference on Advances in Control and Optimization of Dynamical Systems (ACODS), FEB 18-22, 2018, Hyderabad, INDIA, pp. 462-467.

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Official URL: https://dx.doi.org/10.1016/j.ifacol.2018.05.078

Abstract

This paper presents an improved state estimation technique - a fusion of Monocular SLAM (Simultaneous Localization and Mapping) and INS (Inertial Navigation System). It is utilized in landing a commercially available low cost quadrotor (Parrot AR Drone 2.0) in indoor environments along a trajectory generated by a bio-inspired guidance method. The method is based on Tau theory and facilitates safe and smooth landing of UAVs by closing motion gaps with zero relative velocity and acceleration. A depth camera (Microsoft Kinect) provides a helping hand in very accurate landing towards the end of the quadrotor's trajectory. A dynamic inversion based controller is designed which works as a outer loop controller for the quadrotor. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Item Type: Conference Proceedings
Additional Information: Copyright of this article belong to ELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Depositing User: Id for Latest eprints
Date Deposited: 14 Aug 2018 14:48
Last Modified: 14 Aug 2018 14:48
URI: http://eprints.iisc.ac.in/id/eprint/60423

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