Building on our previous work , in this paper we demonstrate how it is possible to improve flight control of a MAV that experiences aerodynamic disturbances caused by objects on its path. Predictions based on low resolution depth images taken at a distance are incorporated into the flight control loop on the throttle channel as this is adjusted to target undisrupted level flight. We demonstrate that a statistically significant improvement (p ≪ 0.001) is possible for some common obstacles such as boxes and steps, compared to using conventional feedback-only control. Our approach and results are encouraging toward more autonomous MAV exploration strategies.
|Title of host publication||2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)|
|Subtitle of host publication||Proceedings of a meeting held 28 September - 2 October 2015, Hamburg, Germany|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Number of pages||8|
|Publication status||Published - 2015|