Vision-based Navigation for Control of Micro Aerial Vehicles

Leong, X. W. and Hesse, H. (2019) Vision-based Navigation for Control of Micro Aerial Vehicles. In: IRC Conference on Science, Engineering and Technology, Singapore, 04 Jun 2018, pp. 413-427. ISBN 9789813298279 (doi:10.1007/978-981-32-9828-6_33)

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Abstract

This paper presents the use of an external vison-based positioning system for navigation and flight control of micro aerial vehicles. The motion capture system Optitrack is used to localize the vehicle which is a nano-quadcopter Crazyflie 2.0. An interface was created to pass positioning data to the Robot Operating Software (ROS). ROS acts as communication layer to bridge between Optitrack and available control nodes for Crazyflie 2.0 platforms.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Hesse, Dr Henrik
Authors: Leong, X. W., and Hesse, H.
College/School:College of Science and Engineering > School of Engineering > Aerospace Sciences
ISBN:9789813298279
Copyright Holders:Copyright © 2019 Springer Nature Singapore Pte Ltd.
First Published:First published in Proceedings of 4th IRC Conference on Science, Engineering and Technology (IRC-SET 2018), 413-427
Publisher Policy:Reproduced in accordance with the copyright policy of the publisher
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