Improving MAV control by predicting aerodynamic effects of obstacles

John P A Bartholomew, Andrew D Calway, Walterio Mayol-Cuevas

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

7 Citations (Scopus)
320 Downloads (Pure)

Abstract

Building on our previous work [1], 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.
Original languageEnglish
Title of host publication 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Subtitle of host publicationProceedings of a meeting held 28 September - 2 October 2015, Hamburg, Germany
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages4826-4833
Number of pages8
ISBN (Electronic)9781479999941
ISBN (Print)9781479999958
DOIs
Publication statusPublished - 2015

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