Closing the gap between simulation and reality in the sensor and motion models of an autonomous AR.Drone

Title

Closing the gap between simulation and reality in the sensor and motion models of an autonomous AR.Drone

 Author

Visser, A.
Dijkshoorn, N.
Van der Veen, M.
Jurriaans, R.

Date

2011-09-12

 Abstract

This article describes a method to develop an advanced navigation capability for the standard platform of the IMAV indoor competition: the Parrot AR.Drone. Our development is partlybased on simulation, which requires both a re-alistic sensor and motion model. This article de-scribes how a visual map of the indoor environ-ment can be made, including the effect of sensor noise. In addition, validation results for the mo-tion model are presented. On this basis, it shouldbe possible to learn elevation maps, optimal paths on this visual map and to autonomously avoid obstacles based on optical ?ow.

 Subject

Micro Air Vehicle
autonomous flight
visual SLAM

 To reference this document use:

https://doi.org/10.4233/uuid:3ddf7e58-b499-4e03-ad57-7eddcd3f0728

 Part of collection

Conference proceedings

 Document type

conference paper

 Rights

(c) 2011 Visser, A.; Dijkshoorn, N.; Van der Veen, M.; Jurriaans, R.