Indoor Navigation and Control of Quadrotor UAV Based on Low Cost MCS

In this paper, we present a control system that allows a drone to fly autonomously through a series of gates marked with ArUco tags. A simple and low-cost DJI Tello EDU quad-rotor platform was used. Based on the API provided by the manufacturer, we have created a Python application that enables the communication with the drone over WiFi, realises drone positioning based on visual feedback, and generates control. Two control strategies were proposed, compared, and critically analysed. In addition, the accuracy of the positioning method used was measured.<br>The application was evaluated on a laptop computer (about 40 fps) and a Nvidia Jetson TX2 embedded GPU platform (about 25 fps). We provide the developed code on GitHub. <br>

Download Full-text

Simulation and Experimental Evaluation of a Flexible Time Triggered Ethernet Architecture Applied in Satellite Nano/Micro Launchers

Aerospace ◽

10.3390/aerospace5030084 ◽

2018 ◽

Vol 5 (3) ◽

pp. 84 ◽

Cited By ~ 2

Author(s):

Vincenzo Eramo ◽

Francesco Lavacca ◽

Francesco Valente ◽

Andrea Pisculli ◽

Stefano Caporossi

Keyword(s):

New Technologies ◽

Low Cost ◽

Test Bed ◽

Control Applications ◽

Small Satellites ◽

Navigation And Control ◽

Comparable Performance ◽

Ethernet Network ◽

The One ◽

And Control

The success of small satellites has lead to the study of new technologies for the realization of Nano and Micro Launch Vehicle (NMLV) in order to make competitive launch costs. The paper has the objective to define and experimentally investigate the performance of a communication system for NMLV interconnecting the End Systems as On-Board Computer (OBC), telemetry apparatus, Navigation Unit...we propose a low cost Ethernet-based solution able to provide the devices with high interconnection bandwidth. To guarantee hard delays to the Guide, Navigation and Control applications we propose some architectural changes of the traditional Ethernet network with the introduction of a layer implemented in the End Systems and allow for the lack of any contention on the network links. We show how the proposed solution has comparable performance to the one of TTEthernet standard that is a very expensive solution. An experimental test-bed equipped with Ethernet switches and Hercules boards by Texas Instruments is also provided to prove the feasibility of the proposed solution.

Download Full-text

A simple vision-based navigation and control strategy for autonomous drone racing

10.36227/techrxiv.14452725 ◽

2021 ◽

Author(s):

Artur Cyba ◽

Hubert Szolc ◽

Tomasz Kryjak

Keyword(s):

Control System ◽

Visual Feedback ◽

Control Strategy ◽

Control Strategies ◽

Low Cost ◽

Laptop Computer ◽

Vision Based Navigation ◽

Navigation And Control ◽

Positioning Method ◽

And Control

In this paper, we present a control system that allows a drone to fly autonomously through a series of gates marked with ArUco tags. A simple and low-cost DJI Tello EDU quad-rotor platform was used. Based on the API provided by the manufacturer, we have created a Python application that enables the communication with the drone over WiFi, realises drone positioning based on visual feedback, and generates control. Two control strategies were proposed, compared, and critically analysed. In addition, the accuracy of the positioning method used was measured.<br>The application was evaluated on a laptop computer (about 40 fps) and a Nvidia Jetson TX2 embedded GPU platform (about 25 fps). We provide the developed code on GitHub. <br>

Download Full-text