制御環境下におけるビジョンベースのナノドローン屋内測位とその応用
Vision-based indoor localization of nano drones in controlled environment with its applications
GPSが使えない屋内で、外部カメラとオフボード計算による低コストなナノドローンの測位・制御手法を提案し、移動車両への着陸や3次元経路計画などで有効性を示した。
著者: Simranjeet Singh, Amit Kumar, Fayyaz Pocker Chemban, Vikrant Fernandes, Lohit Penubaku, Kavi Arya
分類: cs.RO
原文アブストラクト
Navigating unmanned aerial vehicles in environments where GPS signals are unavailable poses a compelling and intricate challenge. This challenge is further heightened when dealing with Nano Aerial Vehicles (NAVs) due to their compact size, payload restrictions, and computational capabilities. This paper proposes an approach for localization using off-board computing, an off-board monocular camera, and modified open-source algorithms. The proposed method uses three parallel proportional-integral-derivative controllers on the off-board computer to provide velocity corrections via wireless communication, stabilizing the NAV in a custom-controlled environment. Featuring a 3.1cm localization error and a modest setup cost of 50 USD, this approach proves optimal for environments where cost considerations are paramount. It is especially well-suited for applications like teaching drone control in academic institutions, where the specified error margin is deemed acceptable. Various applications are designed to validate the proposed technique, such as landing the NAV on a moving ground vehicle, path planning in a 3D space, and localizing multi-NAVs. The created package is openly available at https://github.com/simmubhangu/eyantra_drone to foster research in this field.
