Snapshot-based navigation for the guidance of UAS

Denuelle, Aymeric and Srinivasan, Mandyam V. (2015). Snapshot-based navigation for the guidance of UAS. In: Australasian Conference on Robotics and Automation (ACRA 2015). Australasian Conference on Robotics and Automation, Canberra, ACT, Australia, (). 2-4 December 2015.

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Name Description MIMEType Size Downloads
Author Denuelle, Aymeric
Srinivasan, Mandyam V.
Title of paper Snapshot-based navigation for the guidance of UAS
Conference name Australasian Conference on Robotics and Automation
Conference location Canberra, ACT, Australia
Conference dates 2-4 December 2015
Convener Robert Mahony
Proceedings title Australasian Conference on Robotics and Automation (ACRA 2015)
Place of Publication Canberra, ACT, Australia
Publisher ARAA
Publication Year 2015
Sub-type Fully published paper
Open Access Status Not Open Access
Total pages 10
Collection year 2016
Language eng
Abstract/Summary This paper presents a bio-inspired homing strategy applied to the guidance of rotorcraft unmanned aerial systems (UAS). In this approach, a sequence of panoramic snapshots is stored to build a visual route between the home and the goal locations. Navigation back to the initial location consists in reaching each of the memorised snapshot positions, by performing successive local homing steps. For that purpose, a snapshot-based method is used to estimate the rotorcraft’s 3D position and velocity in real-time. This algorithm provides a simple, yet efficient means for describing a visual route, and enabling 3D navigation of a smallsize quadrotor in unknown outdoor environments. Results from closed-loop flight experiments are presented to evaluate the performance of our approach.
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status UQ
Additional Notes The full text of this paper is available from the conference website at http://www.araa.asn.au/conferences/acra-2015/

Document type: Conference Paper
Collections: Queensland Brain Institute Publications
Official 2016 Collection
 
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Created: Wed, 16 Dec 2015, 15:41:40 EST by Susan Day on behalf of Queensland Brain Institute