Examples of Quadrocopter control on ROS

L. L. Cheng; H. B. Liu

doi:10.1109/ICASID.2015.7405668

Examples of Quadrocopter control on ROS

L. L. Cheng
, H. B. Liu^*

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

7 Citations (Scopus)

Abstract

In this paper, the first example to be studied is a system that could localize a quadrocopter in an environment which is either indoor or outdoor without the help of GPS signals. The onboard camera of a quadrocopter without requiring any external sensors or markers will be used. In this system, firstly, the pose estimation based on SLAM (simultaneous localization and mapping) is used[4][7]. Secondly, extended Kalman filter is used to compensate the delay due to data communications and computations. Thirdly, a PID controller is used to control the drone's position and orientation[13][3]. The second example to be studiedis the Ardrone could be simply controlled by a human hand that fulfilled by using a leap motion controller with hand gestures and the controller is connected to ROS platform[10] under Ubuntu.

Original language	English
Title of host publication	Proceedings of 2015 IEEE 9th International Conference on Anti-counterfeiting,Security, and Identification (ASID)
Publisher	IEEE Computer Society
Pages	92-96
ISBN (Electronic)	9781467371407
ISBN (Print)	9781467371391, 9781467371384
DOIs	https://doi.org/10.1109/ICASID.2015.7405668
Publication status	Published - Sept 2015
Event	9th IEEE International Conference on Anti-counterfeiting, Security and Identification (ASID 2015) - Xiamen, China Duration: 25 Sept 2015 → 27 Sept 2015 http://fjic.xmu.edu.cn/asid/index.html

Publication series

Name
ISSN (Print)	2163-5048
ISSN (Electronic)	2163-5056

Conference

Conference	9th IEEE International Conference on Anti-counterfeiting, Security and Identification (ASID 2015)
Place	China
City	Xiamen
Period	25/09/15 → 27/09/15
Internet address	http://fjic.xmu.edu.cn/asid/index.html

Research Keywords

Ardrone
Robot Operating System (ROS)
PID Controller
SLAM
Leap Motion

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10.1109/ICASID.2015.7405668

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@inproceedings{eaa8c54cd41a4d519b60ca7178f920c7,

title = "Examples of Quadrocopter control on ROS",

abstract = "In this paper, the first example to be studied is a system that could localize a quadrocopter in an environment which is either indoor or outdoor without the help of GPS signals. The onboard camera of a quadrocopter without requiring any external sensors or markers will be used. In this system, firstly, the pose estimation based on SLAM (simultaneous localization and mapping) is used[4][7]. Secondly, extended Kalman filter is used to compensate the delay due to data communications and computations. Thirdly, a PID controller is used to control the drone's position and orientation[13][3]. The second example to be studiedis the Ardrone could be simply controlled by a human hand that fulfilled by using a leap motion controller with hand gestures and the controller is connected to ROS platform[10] under Ubuntu.",

keywords = "Ardrone, Robot Operating System (ROS), PID Controller, SLAM, Leap Motion",

author = "Cheng, \{L. L.\} and Liu, \{H. B.\}",

year = "2015",

month = sep,

doi = "10.1109/ICASID.2015.7405668",

language = "English",

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pages = "92--96",

booktitle = "Proceedings of 2015 IEEE 9th International Conference on Anti-counterfeiting,Security, and Identification (ASID)",

address = "United States",

note = "9th IEEE International Conference on Anti-counterfeiting, Security and Identification (ASID 2015) ; Conference date: 25-09-2015 Through 27-09-2015",

url = "http://fjic.xmu.edu.cn/asid/index.html",

}

Cheng, LL & Liu, HB 2015, Examples of Quadrocopter control on ROS. in Proceedings of 2015 IEEE 9th International Conference on Anti-counterfeiting,Security, and Identification (ASID)., 7405668, IEEE Computer Society, pp. 92-96, 9th IEEE International Conference on Anti-counterfeiting, Security and Identification (ASID 2015), Xiamen, China, 25/09/15. https://doi.org/10.1109/ICASID.2015.7405668

Examples of Quadrocopter control on ROS. / Cheng, L. L.; Liu, H. B.
Proceedings of 2015 IEEE 9th International Conference on Anti-counterfeiting,Security, and Identification (ASID). IEEE Computer Society, 2015. p. 92-96 7405668.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Examples of Quadrocopter control on ROS

AU - Cheng, L. L.

AU - Liu, H. B.

PY - 2015/9

Y1 - 2015/9

N2 - In this paper, the first example to be studied is a system that could localize a quadrocopter in an environment which is either indoor or outdoor without the help of GPS signals. The onboard camera of a quadrocopter without requiring any external sensors or markers will be used. In this system, firstly, the pose estimation based on SLAM (simultaneous localization and mapping) is used[4][7]. Secondly, extended Kalman filter is used to compensate the delay due to data communications and computations. Thirdly, a PID controller is used to control the drone's position and orientation[13][3]. The second example to be studiedis the Ardrone could be simply controlled by a human hand that fulfilled by using a leap motion controller with hand gestures and the controller is connected to ROS platform[10] under Ubuntu.

AB - In this paper, the first example to be studied is a system that could localize a quadrocopter in an environment which is either indoor or outdoor without the help of GPS signals. The onboard camera of a quadrocopter without requiring any external sensors or markers will be used. In this system, firstly, the pose estimation based on SLAM (simultaneous localization and mapping) is used[4][7]. Secondly, extended Kalman filter is used to compensate the delay due to data communications and computations. Thirdly, a PID controller is used to control the drone's position and orientation[13][3]. The second example to be studiedis the Ardrone could be simply controlled by a human hand that fulfilled by using a leap motion controller with hand gestures and the controller is connected to ROS platform[10] under Ubuntu.

KW - Ardrone

KW - Robot Operating System (ROS)

KW - PID Controller

KW - SLAM

KW - Leap Motion

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DO - 10.1109/ICASID.2015.7405668

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781467371391

SN - 9781467371384

SP - 92

EP - 96

BT - Proceedings of 2015 IEEE 9th International Conference on Anti-counterfeiting,Security, and Identification (ASID)

PB - IEEE Computer Society

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Y2 - 25 September 2015 through 27 September 2015

ER -

Examples of Quadrocopter control on ROS

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