Floor Optical Flow Based Navigation Controller for Multirotor Aerial Vehicles

in ROBOT2013: First Iberian Robotics Conference (2013, November)

Identificación y control en cascada mediante inversión de no linealidades del cuatrirrotor para el Concurso de Ingeniería de Control CEA IFAC 2012

in RIAI - Revista Iberoamericana de Automatica e Informatica Industrial (2013), 10(3),

Toward visual autonomous ship board landing of a VTOL UAV

in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the ... [more ▼]

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the movement of a ship landing platform on the Sea, for different Sea States, for different ships, randomly and realistically enough. We use a commercial parallel robot to get this movement. Once we had this, we developed an accurate and robust computer vision system to measure the pose of the helipad with respect to the on-board camera. To deal with the noise and the possible fails of the computer vision, a state estimator was created. With all of this, we are now able to develop and test a controller that closes the loop and finish the autonomous landing task. [less ▲]

A general purpose configurable navigation controller for micro aerial multirotor vehicles

in 2013 International Conference on Unmanned Aircraft Systems (ICUAS) (2013, May)

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements ... [more ▼]

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on “Best Automatic Performance - IMAV 2012” and the second overall prize in the participating category “Indoor Flight Dynamics - Rotary Wing MAV”. Most of the code related to the present work is available as two open-source projects hosted in GitHub. [less ▲]

Autonomous Guided Car Using a Fuzzy Controller

in Sen Gupta, Gourab; Bailey, Donald; Demidenko, Serge (Eds.) et al Recent Advances in Robotics and Automation (2013)

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just ... [more ▼]

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the visual information of a line painted below the car. In order to implement the control of the vehicle, a Fuzzy Logic controller has been implemented, that has to be robust against curvature changes and velocity changes. The only input information for the controller is the visual distance from the image center captured by a camera pointing downwards to the guiding line on the road, at a commercial frequency of 30Hz. The good performance of the controller has successfully been demonstrated in a real environment at urban velocities. The presented results demonstrate the capability of the Fuzzy controller to follow a circuit in urban environments without previous information about the path or any other information from additional sensors. [less ▲]

AR Drone identification and navigation control at CVG-UPM

Scientific Conference (2012, September)

Visual identification and tracking for vertical and horizontal targets in the IMAV competition

Scientific Conference (2012, June)

Adaptive Control System based on Lineal Control Theory for the Path-Following Problem of a Car-Like Mobile Robot

in IFAC Conference on Advances in PID Control PID'12 (2012)

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the ... [more ▼]

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to ful l control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot. [less ▲]

Sistema de control para el seguimiento de trayectorias de un UGV no holonómico tipo Ackermann

Bachelor/master dissertation (2010)