3D vision-based navigation for indoor microflyers

被引：29

作者：

Beyeler, Antoine ^{[1
]}

Zufferey, Jean-Christophe ^{[1
]}

Floreano, Dario ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, LIS, CH-1015 Lausanne, Switzerland

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

基金：

瑞士国家科学基金会;

关键词：

D O I：

10.1109/ROBOT.2007.363170

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Fully autonomous control of ultra-light indoor airplanes has not yet been achieved because of the strong limitations on the kind of sensors that can be embedded making it difficult to obtain good estimations of altitude. We propose to revisit altitude control by considering it as an obstacle avoidance problem and introduce a novel control scheme where the ground and ceiling is avoided based on translatory optic flow, in a way similar to existing vision-based wall avoidance strategies. We show that this strategy is successful at controlling a simulated microflyer without any explicit altitude estimation and using only simple sensors and processing that have already been embedded in an existing 10-gram microflyer. This result is thus a significant step toward autonomous control of indoor flying robots.

引用

页码：1336 / +

页数：2