GPS-Free navigation for micro aerial vehicles
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2015 by the American Helicopter Society International, Inc. All rights reserved. Accurate position and velocity estimates are required for an efficient and fast navigation of light-weight MAVs in GPS-denied, constrained environments. This paper focuses on the efficient use of LIDAR for altitude hold and downward facing camera for calculating optical flow and providing velocity estimates. An on-board computer was used for sending off- board commands to the quadrotor, which included trajectory co-ordinates. The efficacy of our implementation was analyzed on the DJI F450 and, approximately, 100 flight tests were done at different environmental conditions e.g. indoors and outdoors. The flight tests were done at different velocities, ranging from 0-3.5 m/s, and at different heights, ranging from 0-4 meters to examine the robustness of the integration done.
American Helicopter Society International - 6th AHS International Specialists' Meeting on Unmanned Rotorcraft System 2015: Platform Design, Autonomy, Operator Workload Reduction and Network Centric Operations
