A Study on Integrated Navigation Design Using 1-D Range Sensors under Rotating Flight of Unmanned Aerial Vehicle

被引：0
|
作者：
Lee B. [1 ]
Kim D.-G. [2 ]
Sung S. [2 ]
机构：
[1] The Academy of Applied Science and Technology, Konkuk University
[2] Department of Mechanical and Aerospace Engineering, Konkuk University
来源：
Journal of Institute of Control, Robotics and Systems | 2022年 / 28卷 / 04期
关键词：
Continuous rotating; Hexa-copter; Lidar; Range sensor; Urban navigation;
D O I：
10.5302/J.ICROS.2022.22.0024
中图分类号：
学科分类号：
摘要：
This paper presents a navigation algorithm for one-dimensional range sensors for a hexacopter’s flight. The hexacopter’s attitude is controlled by horizontal and vertical controllers, respectively, so the vertical rotation is utilized to accumulate multirange sensor data, similar to a two-dimensional lidar. The pseudo-lidar image provides information to help determine the suitability of the range data for navigation. The navigation results are computed using a simulator and show advantages of the suggested algorithm compared with a previously proposed method. Moreover, the proposed algorithm is verified by conducting a real flight experiment using a hexacopter. © 2022, Institute of Control, Robotics and Systems. All rights reserved.
引用
收藏
页码：383 / 390
页数：7
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