Abstract
In the field of robotics, a major challenge is achieving high levels of autonomy with small vehicles that have limited mass and power budgets. The main motivation for designing such small vehicles is that, compared to their larger counterparts, they have the potential to be safer, and hence be available and work together in large numbers. One of the key components in micro robotics is efficient software design to optimally utilize the computing power available. This paper describes the computer vision and control algorithms used to achieve autonomous flight with the _30-gram tailless flapping wing robot, used to participate in the IMAV 2018 indoor micro air vehicle competition. Several tasks are discussed: line following, and circular gate detection and fly-through. The emphasis throughout this paper is on augmenting traditional techniques with the goal to make these methods work with limited computing power while obtaining robust behaviour.
Original language | English |
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Title of host publication | International Micro Air Vehicle Competition and Conference |
Editors | P. Campoy |
Pages | 60-66 |
Number of pages | 7 |
Publication status | Published - 2019 |
Event | International Micro Air Vehicle Competition and Conference 2019 - Madrid, Spain Duration: 30 Sept 2019 → 4 Oct 2019 Conference number: 11 http://www.imavs.org/2019/ |
Conference
Conference | International Micro Air Vehicle Competition and Conference 2019 |
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Abbreviated title | IMAV 2019 |
Country/Territory | Spain |
City | Madrid |
Period | 30/09/19 → 4/10/19 |
Internet address |