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- Title
Improving Optical Flow Sensor Using a Gimbal for Quadrotor Navigation in GPS-Denied Environment.
- Authors
Flores, Jonathan; Gonzalez-Hernandez, Ivan; Salazar, Sergio; Lozano, Rogelio; Reyes, Christian
- Abstract
This paper proposes a new sensor using optical flow to stabilize a quadrotor when a GPS signal is not available. Normally, optical flow varies with the attitude of the aerial vehicle. This produces positive feedback on the attitude control that destabilizes the orientation of the vehicle. To avoid this, we propose a novel sensor using an optical flow camera with a 6DoF IMU (Inertial Measurement Unit) mounted on a two-axis anti-shake stabilizer mobile aerial gimbal. We also propose a robust algorithm based on Sliding Mode Control for stabilizing the optical flow sensor downwards independently of the aerial vehicle attitude. This method improves the estimation of the position and velocity of the quadrotor. We present experimental results to show the performance of the proposed sensor and algorithms.
- Subjects
OPTICAL flow; FLOW sensors; OPTICAL sensors; IMAGE stabilization; SLIDING mode control; GLOBAL Positioning System; OPTICAL control; ARTIFICIAL satellite attitude control systems
- Publication
Sensors (14248220), 2024, Vol 24, Issue 7, p2183
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s24072183