Ryan ’Donnell Carnegie Mellon University O. Ryan ’Donnell Carnegie Mellon University.
Quadrotor State Estimation - Carnegie Mellon University
Transcript of Quadrotor State Estimation - Carnegie Mellon University
![Page 1: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/1.jpg)
Quadrotor State Estimation and Obstacle Detection
Robot Autonomy ProjectCole, Job, Erik, Rohan
![Page 2: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/2.jpg)
I. Dynamics
II. Differential Flatness
III. Planning
IV. Control Architecture
V. State Estimation (EKF)
VI. Sensors
VII. SLAM (RTAB Map)
VIII. Obstacle Detection
IX. Video
![Page 3: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/3.jpg)
Quadrotor Dynamics
![Page 4: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/4.jpg)
Pick outputs:
Differential Flatness
XYZ
PhiTheta
Psi
Any 4 of the following 6 can serve as flat outputs:
Such that:
Murray, Richard M., Muruhan Rathinam, and Willem Sluis. "Differential flatness of mechanical control systems: A catalog of prototype systems."ASME international mechanical engineering congress and exposition. 1995.
![Page 5: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/5.jpg)
Differential Flatness
XYZ
PhiTheta
Psi
Any 4 of the following 6 can serve as flat outputs:
Trajectory Planning:
kr = 4, kψ = 2
Mellinger, Daniel, Nathan Michael, and Vijay Kumar. "Trajectory generation and control for precise aggressive maneuvers with quadrotors." The International Journal of Robotics Research (2012): 0278364911434236.
![Page 6: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/6.jpg)
CONTROL ARCHITECTURE
Mahony, Robert, Vijay Kumar, and Peter Corke. "Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor." IEEE Robotics & amp amp Automation Magazine 19 (2012): 20-32.
![Page 8: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/8.jpg)
Sensors
Camera
IMU
HeightSensor
Sony Playstation Eyesource: http://amazon.com
PX4FLOW KITsource: https://pixhawk.org
![Page 9: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/9.jpg)
Extended Kalman Filter
Position Updates from EKF
![Page 10: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/10.jpg)
State Estimation with Optical Flow
![Page 11: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/11.jpg)
State Estimation with Optical Flow
Velocity Updates from Optical Flow Camera Position Updates from EKF
![Page 12: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/12.jpg)
State Estimation with Optical Flow
Odometry Readings Linear Drift with Time in Simulation
![Page 13: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/13.jpg)
RTAB-Map
● Graph and Node based System● Gathers RGB and Depth information● OpenNI handles point clouds● Uses visual words to detect loop closures
![Page 14: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/14.jpg)
RGB-D SLAM
Static Map Dynamic Map Building
![Page 15: Quadrotor State Estimation - Carnegie Mellon University](https://reader033.fdocuments.in/reader033/viewer/2022042702/62654d2772f539277274421c/html5/thumbnails/15.jpg)
Obstacle Detection
RBG-D Point Cloud Data Occupancy Grid