SYSTEMS, DEVICES, AND METHODS FOR ON-BOARD SENSING AND CONTROL OF MICRO AERIAL VEHICLES

摘要

Systems, devices, and methods for on-board sensing and control of robotic vehicles (e.g., MAVs) using commercial off-the-shelf hand-held electronic devices as a sensing and control system are provided. In one aspect, a system for controlling a micro aerial vehicle may include one or more sensors, a state estimation module in communication with the one or more sensors, the state estimation module being configured to generate an estimated pose of the micro aerial vehicle based on inputs from the one or more sensors, and a position controller in communication with the state estimation module and configured to communicate attitude commands to an attitude controller of the micro aerial vehicle. Each of the one or more sensors, the state estimation module, and the position controller may be contained in a commercial off-the-shelf hand-held electronic device that is configured to be coupled to the micro aerial vehicle.

主权项

1. A system for controlling a micro aerial vehicle comprising:
one or more sensors; a state estimation module in communication with the one or more sensors, the state estimation module being configured to generate an estimated pose of the micro aerial vehicle based on inputs from the one or more sensors; and a position controller in communication with the state estimation module and configured to communicate attitude commands to an attitude controller of the micro aerial vehicle; wherein each of the one or more sensors, the state estimation module, and the position controller are contained in a commercial off-the-shelf hand-held electronic device that is configured to be coupled to the micro aerial vehicle.