A Study on Hovering Control of Small Aerial Robot by Sensing Existing Floor Features

作     者：Chinthaka Premachandra Dang Ngoc Hoang Thanh Tomotaka Kimura Hiroharu Kawanaka Chinthaka Premachandra;Dang Ngoc Hoang Thanh;Tomotaka Kimura;Hiroharu Kawanaka

作者机构：the Department of Electronic Engineering and ScienceGraduate School of EngineeringShibaura Institute of TechnologyTokyo 135-8548Japan the Department of Information TechnologySchool of Business Information TechnologyUniversity of Economics Ho Chi Minh CityHue 530000Vietnam the Department of Intelligent Information EngineeringFaculty of Science and EngineeringDoshisha UniversityKyoto 602-8580Japan the Department of Electrical and Electronic EngineeringFaculty of EngineeringMie UniversityMie 514-8507Japan 

出 版 物：《自动化学报：英文版》 (IEEE/CAA Journal of Automatica Sinica)

年 卷 期：2020年第7卷第4期

页      面：1016-1025页

核心收录：

学科分类：0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 08[工学] 080202[工学-机械电子工程] 081105[工学-导航、制导与控制] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by Branding Research Fund by Shibaura Institute of Technology(SIT) 

主　　题：Hovering control light weight algorithm development image processing self-position estimation small aerial robot tile corner sensing 

摘      要：Since precise self-position estimation is required for autonomous flight of aerial robots, there has been some studies on self-position estimation of indoor aerial robots. In this study, we tackle the self-position estimation problem by mounting a small downward-facing camera on the chassis of an aerial robot. We obtain robot position by sensing the features on the indoor *** this work, we used the vertex points(tile corners) where four tiles on a typical tiled floor connected, as an existing feature of the floor. Furthermore, a small lightweight microcontroller is mounted on the robot to perform image processing for the onboard camera. A lightweight image processing algorithm is developed. So, the real-time image processing could be performed by the microcontroller alone which leads to conduct on-board real time tile corner detection. Furthermore, same microcontroller performs control value calculation for flight commanding. The flight commands are implemented based on the detected tile corner information. The above mentioned all devices are mounted on an actual machine, and the effectiveness of the system was investigated.