Real-time Indoor Localization Support for Four-rotor Flying Robots using Sensor Nodes

Eckert J, Dressler F, German R (2009)

Publication Type: Conference contribution

Publication year: 2009

Edited Volumes: 2009 IEEE International Workshop on Robotic and Sensors Environments, ROSE 2009 - Proceedings

Pages Range: 23-28

Conference Proceedings Title: Proceedings of IEEE International Workshop on Robotic and Sensors Environments (ROSE 2009)

Event location: Lecco IT

URI: http://www7.informatik.uni-erlangen.de/~eckert/publications/inc/eckert2009realtime-abstract.shtml

DOI: 10.1109/ROSE.2009.5355994

Abstract

Flying four-rotor robots (quadrocopters) are onboard sensor controlled systems. In comparison to classical monorotor objects (helicopters), quadrocopters can be piloted with a much lower effort. However, lateral drifts can not be compensated only referring to the built-in sensors. The detection of such drifts is strongly necessary for indoor operation - without corrections a quadrocopter would quickly cause a collision. In order to compensate the dislocation, an additional indoor positioning system is needed. In our work, we provide a framework for timeof- flight based localization systems relying on ultrasonic sensors. It is optimized for use in sensor nodes with low computational power and limited memory. Nevertheless, it offers scalability and high accuracy even in case of single erroneous measurements. We implemented the system in our lab using ultrasound sensors that are light enough to be carried around by the flying object. Using this real-time localization system, a position controller can be implemented to maintain a given position or course. © 2009 IEEE.

Authors with CRIS profile

Jürgen Eckert Computer Science 7 (Computer Networks and Communication Systems) Reinhard German Computer Science 7 (Computer Networks and Communication Systems)

How to cite

APA:

Eckert, J., Dressler, F., & German, R. (2009). Real-time Indoor Localization Support for Four-rotor Flying Robots using Sensor Nodes. In Proceedings of IEEE International Workshop on Robotic and Sensors Environments (ROSE 2009) (pp. 23-28). Lecco, IT.

MLA:

Eckert, Jürgen, Falko Dressler, and Reinhard German. "Real-time Indoor Localization Support for Four-rotor Flying Robots using Sensor Nodes." Proceedings of the IEEE International Workshop on Robotic and Sensors Environments (ROSE 2009), Lecco 2009. 23-28.

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