10.1007/978-3-030-35990-4_29
https://zenodo.org/records/3647952
oai:zenodo.org:3647952
Ramos, A.
A.
Ramos
Universidad de Sevilla
Sanchez-Cuevas, P. J.
P. J.
Sanchez-Cuevas
Universidad de Sevilla
Heredia, G.
G.
Heredia
Universidad de Sevilla
Ollero, A.
A.
Ollero
Universidad de Sevilla
Spherical fully covered UAV with autonomous indoor localization
Zenodo
2019
2019-11-20
https://zenodo.org/communities/eu
Creative Commons Attribution 4.0 International
This paper presents a UAV (Unmanned Aerial Vehicle) with intrinsic safety which can interact with people and obstacles while flying in an indoor environment in an autonomous way. A system description including mechanical features, the design of the external protective case, electrical connections and the communication using the Robot Operating System (ROS) between the different devices is presented. Then, the dynamic model of the aerial system taking into account the protective case, the local positioning algorithm (Hector SLAM) and the control models implemented are also described. Different experimental re-sults, which include simulation in Gazebo and real flights are shown to verify the positioning system developed. Two additional experiments have also been tested to validate two emergency safety systems in case of a failure in the position esti-mation is detected.
This work has been supported by the ARM-EXTEND project (DPI2017-89790-R), funded by the Spanish RD plan
European Commission
10.13039/501100000780
779411
HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection