Autonomous Robust Navigation System for MAV Based on Monocular Cameras

Autor(es)

Caldas, Kenny A. Q. ; Benevides, Joao R. S. ; Inoue, Roberto S. ; Terra, Marco H. ; IEEE

• Tipo de documento: Artigo Científico
• Fonte: 2022 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS); v. N/A, p. 7-pg., 2022-01-01.

Resumo

Performing autonomous navigation of commercial Micro Air Vehicles (MAVs) in GPS-denied environments without external sensors or a motion capture system is a major challenge in trajectory tracking applications. A convenient solution for this problem is the use of the MAV's odometry, which uses inertial sensors for pose estimation. However, it can suffer from position drifting over time, which may lead to incorrect pose measurements. Another solution is to use the MAV's monocular camera for pose estimation, based on visual Simultaneous Localization and Mapping (vSLAM) algorithms. A limitation of this approach is that monocular vSLAM lacks a metric scale, hence, making its use unfeasible for position feedback. In this scenario, we propose a robust navigation system of a MAV based on vSLAM where a metric scale can be estimated using a Kalman Filter (KF), based on odometry information. In this work, we opted for the use of a Robust Linear-Quadratic Regulator (R-LQR), which is a recursive strategy that takes into account parametric uncertainties on the system's dynamic. We present simulated and experimental results of our approach using a commercial quadrotor to show the effectiveness of the system. (AU)

• Processo FAPESP: 14/50851-0 - INCT 2014: Instituto Nacional de Ciência e Tecnologia para Sistemas Autônomos Cooperativos Aplicados em Segurança e Meio Ambiente
• Beneficiário: Marco Henrique Terra
• Modalidade de apoio: Auxílio à Pesquisa - Temático
• Processo FAPESP: 18/13848-1 - Planejamento de trajetória de robôs autônomos heterogêneos para o mapeamento em 3D cooperativo de um ambiente desconhecido
• Beneficiário: Kenny Anderson Queiroz Caldas
• Modalidade de apoio: Bolsas no Brasil - Doutorado
• Processo FAPESP: 17/05668-0 - Sistema de Controle em Rede Tolerante a Falhas de Comunicação para a Coordenação de Robôs Heterogêneos
• Beneficiário: João Roberto Soares Benevides
• Modalidade de apoio: Bolsas no Brasil - Doutorado