Real-Time Terrain-Following of an Autonomous Quadrotor by Multi-Sensor Fusion and Control

Real-Time Terrain-Following of an Autonomous Quadrotor by Multi-Sensor Fusion and Control

Blog Article

For the application of the autonomous guidance of a quadrotor from confined undulant ground, terrain-following is the major issue for flying at a low altitude.This study has modified the open-source autopilot based on the integration of a multi-sensor receiver Neuw Rebel Skinny Eternal Black Jeans (a Global Navigation Satellite System (GNSS)), a Lidar-lite (a laser-range-finder device), a barometer and a low-cost inertial navigation system (INS)).These automatically control the position, attitude and height (a constant clearance above the ground) to allow terrain-following and avoid obstacles based on multi-sensors that maintain a constant height above flat ground or with obstacles.The INS/Lidar-lite integration is applied for the attitude and the height stabilization, respectively.The height control is made by the combination of an extended Kalman filter (EKF) estimator and a cascade proportional-integral-derivative (PID) controller that is designed appropriately for the noise characteristics of low accuracy sensors.

The proposed terrain-following is tested by both simulations and real-world experiments.The results indicate that the quadrotor can continuously navigate and avoid obstacles at a real-time canine spectra kc 3 intranasal single dose response of reliable height control with the adjustment time of the cascade PID controller improving over 50% than that of the PID controller.