Estimation, control and planning for aggressive flight with a small quadrotor with a single camera and IMU

Giuseppe Loianno, Chris Brunner, G. Mcgrath, Vijay Kumar

Research output: Contribution to journalArticlepeer-review

Abstract

We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an inertial measurement unit (IMU). The use of smartphone grade hardware and the small scale provides an inexpensive and practical solution for autonomous flight in indoor environments. The key contributions of this paper are: 1) robust state estimation and control using only a monocular camera and an IMU at speeds of 4.5 m/s, accelerations of over 1.5 g, roll and pitch angles of up to 90°, and angular rate of up to 800°/s without requiring any structure in the environment; 2) planning of dynamically feasible three-dimensional trajectories for slalom paths and flights through narrow windows; and 3) extensive experimental results showing aggressive flights through and around obstacles with large rotation angular excursions and accelerations.

Original languageEnglish (US)
Article number7762111
Pages (from-to)404-411
JournalIEEE RA-L Robotics and Automation Letters
Volume2
Issue number2
StatePublished - Apr 2017
Event2017 International Conference on Robotics and Automation - Marina Bay Sands, Singapore
Duration: May 29 2017Jun 3 2017

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