IMU-and exteroceptive sensor-based fusión for UAV control.

dc.creatorPérez Paina , Gonzalo
dc.creatorPucheta , Martín Alejo
dc.creatorPaz, Claudio
dc.date.accessioned2025-07-01T22:27:36Z
dc.date.issued2017
dc.description.abstractA quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of applications, like in spection, surveillance, cinematographic filmation, among others. Most of these applications are easily performed if the quadrotor is able to flight autonomously, which can be achieved using a feedback control loop. In order to be close the loop, the UAV state has to be estimated using the information of the on-board sensors. This work presents an IMU- and exteroceptive sensor- based fusion approach for state estimation to be used in a quadrotor control loop. The presented results are based on simulations using a dynamic model of the quadrotor, in which the performed estimation is used as feedback vector instead of the model true output. These results show that the proposed estimation approach is accurate enough to control the quadrotor and perform typical paths, like a circle and a square path.
dc.description.affiliationFil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.description.affiliationFil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
dc.formatpdf
dc.identifier.citation2017 XVII Workshop on Information Processing and Control (RPIC).
dc.identifier.urihttps://hdl.handle.net/20.500.12272/13419
dc.language.isoen
dc.publisherIEEE Xplore.
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internationalen
dc.rights.holderPérez Paina, Gonzalo; Paz, Claudio; Pucheta, Martín Alejo.
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.usehttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.sourceIEEE Xplore.(2017)
dc.subjectState estimation
dc.subjectUAV control
dc.subjectSensor fusion
dc.titleIMU-and exteroceptive sensor-based fusión for UAV control.
dc.typeinfo:eu-repo/semantics/article
dc.type.versionacceptedVersion

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