110documents trouvés
Hovering flight stabilization of a ducted fan VTOL UAV in crosswind
J.M.PFLIMLIN, P.SOUERES, T.HAMEL
GEPETTO, I3S
Rapport LAAS N°06591, Septembre 2006, 32p.
Diffusable
107793Image-based target tracking with multi-constraints satisfaction
B.GAO, S.TARBOURIECH, P.SOUERES
MAC, RIA, GEPETTO
Manifestation avec acte : 5th IFAC Symposium on Robust Control Design (ROCOND'2006), Toulouse (France), 5-7 Juillet 2006, 6p. , N° 06030
Diffusable
108481A hierarchical control strategy for the autonomous navigation of a ducted fan flying robot
J.M.PFLIMLIN, T.HAMEL, P.SOUERES, R.MAHONY
I3S, ANU, GEPETTO
Manifestation avec acte : 2006 IEEE International Conference on Robotics and Automation (ICRA'06), Orlando (USA), 16 - 19 Mai 2006, pp.2491-2496 , N° 06016
Diffusable
106885A multicriteria image-based controller based on a mixed polytopic and norm-bounded representation
S.TARBOURIECH, P.SOUERES, B.GAO
MAC, RIA
Manifestation avec acte : 44th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC'05), Seville (Espagne), 12-15 Décembre 2005, pp.5385-5390 , N° 05034
Diffusable
105257Path-following with a bounded-curvature vehicle: a hybrid control approach
A.BALLUCHI, A.BICCHI, P.SOUERES
Pise, RIA
Revue Scientifique : International Journal of Control, Vol.78, N°15, pp.1228-1247, 15 Octobre 2005 , N° 04659
Diffusable
104508Beamforming based on modal analysis for nearfield or farfield speaker localization in robotics
S.ARGENTIERI, P.SOUERES, P.DANES
RIA
Rapport LAAS N°05585, Octobre 2005, 7p.
Diffusable
104971A convex approach to array pattern synthesis using modal analysis for robotics application
S.ARGENTIERI, P.SOUERES, P.DANES
RIA
Rapport LAAS N°05587, Octobre 2005, 4p.
Diffusable
104974Conception et implémentation d'un système de localisation de source sonore large bande par formation de voie pour des applications robotiques
S.ARGENTIERI, P.DANES, P.SOUERES
RIA
Manifestations avec acte à diffusion limitée : 20ème Colloque GRETSI sur le Traitement du Signal et des Images, Louvain-la-Neuve (Belgique), 6-9 Septembre 2005, pp.85-88 , N° 05113
Diffusable
104056An experimental testbed for sound source localization with mobile robots using optimized wideband beamformers
S.ARGENTIERI, P.DANES, P.SOUERES, P.LACROIX
2I, RIA
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton (Canada), 2-6 Août 2005, pp.909-914 , N° 05032
Diffusable
103984Attitude and gyro bias estimation for a flying UAV
N.METNI, J.M.PFLIMLIN, T.HAMEL, P.SOUERES
LCPC, I3S, GEPETTO
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton (Canada), 2-6 Août 2005, pp.295-301 , N° 05097
Diffusable
Plus d'informations
Abstract
In this paper, a nonlinear complementary filter (x-estimator) is presented to estimate the attitude of a vertical take off and landing unmanned aerial vehicle (VTOL UAV). The measurements are taken from a low-cost IMU (inertial measurement unit) which consists of 3-axis accelerometers and 3-axis gyroscopes. The gyro bias are estimated online. A second nonlinear complementary filter (z-estimator) which combines 3-axis gyroscope readings with 3-axis magnetometer measurements, is also designed. Based on the proposed estimators, the full orientation matrix R will be retrieved. Note that R evolves on the special orthogonal group SO(3), since it is a transformation matrix between two orthogonal frames. This representation of orientation by the rotation matrix allows to overcome the problem of singularities that appear in local parametrization such as Euler angles. Therefore, both estimators may be used to describe any type of 3D motion. The convergence of the two observers is theoretically and experimentally proven; simulations and experiments are conducted on a real platform in hovering flight conditions.
Mots-Clés / Keywords
Inertial measurement unit; Sensor fusion; Mobile robot navigation; Aerial robots;