ICUAS'22 Paper Abstract

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Paper ThB1.2

Giernacki, Wojciech (Poznan University of Technology), Rao, Jinjun (Shanghai University), Sladic, Sasa (University of Rijeka), Bondyra, Adam (Poznan University of Technology, Institute of Robotics and Machi), Retinger, Marek (Poznan University of Poznan), Espinoza Fraire, Arturo Tadeo (Universidad Juárez del Estado de Durango)

DJI Tello Quadrotor As a Platform for Research and Education in Mobile Robotics and Control Engineering

Scheduled for presentation during the Regular Session "Control Architectures I" (ThB1), Thursday, June 23, 2022, 15:50−16:10, Asimon

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords UAS Testbeds, Control Architectures

Abstract

Multirotor unmanned aerial vehicles (UAVs) equipped with various sensors and on-board cameras are commonly used as experimental flying platforms for research and education in mobile robotics and control engineering. In the academic community, especially low-cost, ready-to-use, compact size flying robots attract a lot of researchers attention due to the high level of safety they offer during experiments conducted in GPS-denied indoor laboratory spaces. In recent years, the DJI Tello quadrotor has gained in importance. This nano-class UAV may be found in laboratories around the world and is often the first drone used by students and young scientists in their projects. This paper presents a potential of the drone as a useful experimental platform. Its hardware and software architecture, mathematical model with parametrization, as well as proposed new state machine (node for Robot Operating System), are presented. Moreover, representative research results on UAV position control based on cascade fuzzy neural network, are illustrated. Exemplary students projects conducted with the use of DJI Tello, are also shown. Those projects are as follows: (a) "TelloBird" (QR trajectory generator), (b) "Sentry drone" for detecting and tracking any humans entering given area. The considered UAV is used there as a rapid prototyping platform supported by tello_ros package in ROS.

 

 

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