A Vision Based Navigation Platform for Control Learning*. Issue 17 (2022)

• Record Type: Journal Article
• Authors: Mañas-Álvarez, F.J.; Dormido, R.; Guinaldo, M.; Socas, R.; Dormido, S.
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 17(2022)
• Page Start: 138
• Page End: 143
• Publication Date: 2022
• Subjects: Autonomous Mobile Robots -- Flying robots -- Guidance navigation -- control -- Control Education using laboratory equipment -- Decentralized Control -- Systems; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.09.270
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents the development of a vision based navigation control platform for conducting laboratory experiments with the micro aerial vehicle Crazyfie 2.1. A Vicon motion capture system is used to localize the nano-dron. ROS2 is used as communication layer between the crazyfies, the position control nodes and the Vicon system. The platform can be used for both research and education purposes as it is ready to design and perform experiments with the nano-drone. The architecture has been designed to optimize the available resources by means of a remote controller and event-triggered communications. The efciency of this approach is illustrated through the experimental results of an use case.