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Sensor-based 3-D pose estimation and control of rotary-wing UAVs using a 2-D LiDAR
Alexandre Gomes1; Bruno J. Guerreiro1; Rita Cunha1; Carlos Silvestre1,2; Paulo Oliveira1,3
2017-11-12
Source PublicationAdvances in Intelligent Systems and Computing
PublisherCham : Springer International Publishing : Imprint: Springer
Pages718-729
Abstract

This paper addresses the problem of deriving attitude estimation and trajectory tracking strategies for unmanned aerial vehicles (UAVs) using exclusively on-board sensors. The perception of the vehicle position and attitude relative to a structure is achieved by robustly comparing a known pier geometry or map with the data provided by a LiDAR sensor, solving an optimization problem and also robustly identifying outliers. Building on this information, several methods are discussed for obtaining the attitude of the vehicle with respect to the structure, including a nonlinear observer to estimate the vehicle attitude on SO(3). A simple nonlinear control strategy is also designed with the objective of providing an accurate trajectory tracking control relative to the structure, and experimental results are provided for the performance evaluation of the proposed algorithms.

DOI10.1007/978-3-319-70833-1_58
URLView the original
Scopus ID2-s2.0-85033683490
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Document TypeBook chapter
CollectionUniversity of Macau
Corresponding AuthorBruno J. Guerreiro
Affiliation1.Institute for Systems and Robotics (ISR/IST),LARSYS,Instituto Superior Técnico,Universidade de Lisboa,Lisbon,Portugal
2.Department of Electrical and Computer Engineering,Faculty of Science and Technology,University of Macau,Taipa,Macao
3.Associated Laboratory for Energy,Transports,and Aeronautics (LAETA),Instituto Superior Técnico,Universidade de Lisboa,Lisbon,Portugal
Recommended Citation
GB/T 7714
Alexandre Gomes,Bruno J. Guerreiro,Rita Cunha,et al. Sensor-based 3-D pose estimation and control of rotary-wing UAVs using a 2-D LiDAR:Cham : Springer International Publishing : Imprint: Springer,2017:718-729.
APA Alexandre Gomes,Bruno J. Guerreiro,Rita Cunha,Carlos Silvestre,&Paulo Oliveira.(2017).Sensor-based 3-D pose estimation and control of rotary-wing UAVs using a 2-D LiDAR.Advances in Intelligent Systems and Computing,693,718-729.
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