Back to Search Start Over

Improving Optical Flow Sensor Using a Gimbal for Quadrotor Navigation in GPS-Denied Environment.

Authors :
Flores, Jonathan
Gonzalez-Hernandez, Ivan
Salazar, Sergio
Lozano, Rogelio
Reyes, Christian
Source :
Sensors (14248220). Apr2024, Vol. 24 Issue 7, p2183. 14p.
Publication Year :
2024

Abstract

This paper proposes a new sensor using optical flow to stabilize a quadrotor when a GPS signal is not available. Normally, optical flow varies with the attitude of the aerial vehicle. This produces positive feedback on the attitude control that destabilizes the orientation of the vehicle. To avoid this, we propose a novel sensor using an optical flow camera with a 6DoF IMU (Inertial Measurement Unit) mounted on a two-axis anti-shake stabilizer mobile aerial gimbal. We also propose a robust algorithm based on Sliding Mode Control for stabilizing the optical flow sensor downwards independently of the aerial vehicle attitude. This method improves the estimation of the position and velocity of the quadrotor. We present experimental results to show the performance of the proposed sensor and algorithms. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
14248220
Volume :
24
Issue :
7
Database :
Academic Search Index
Journal :
Sensors (14248220)
Publication Type :
Academic Journal
Accession number :
176594551
Full Text :
https://doi.org/10.3390/s24072183