Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions

Franck Ruffier 1 Fabien Expert 2
2 Biorobotique
ISM - Institut des Sciences du Mouvement Etienne Jules Marey
Abstract : In previous studies, we described how complicated tasks such as ground avoidance, terrain following, takeoff and landing can be performed using optic flow sensors mounted on a tethered flying robot called OCTAVE. In the present study, a new programmable visual motion sensor connected to a lightweight Bluetooth module was mounted on a free-flying 50-gram helicopter called TwinCoax. This small helicopter model equipped with 3 IR-reflective markers was flown in a dedicated room equipped with a VICON system to record its trajectory. The results of this study show that despite the complex, adverse lighting conditions, the optic flow measured onboard matched the ground-truth optic flow generated by the free-flying helicopter's trajectory quite exactly.
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Communication dans un congrès
iEEE. IEEE International Conference on Complex Medical Engineering -CME-, Jul 2012, Kobe, Japan. pp.634-639, 2012
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Soumis le : mercredi 4 juillet 2012 - 17:15:53
Dernière modification le : lundi 13 octobre 2014 - 15:43:25
Document(s) archivé(s) le : vendredi 5 octobre 2012 - 03:51:08

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Franck Ruffier, Fabien Expert. Visual motion sensing onboard a 50-g helicopter flying freely under complex VICON-lighting conditions. iEEE. IEEE International Conference on Complex Medical Engineering -CME-, Jul 2012, Kobe, Japan. pp.634-639, 2012. <hal-00714425>

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