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Autonomous flying with quadrocopter using fuzzy control and ArUco markers

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Abstract

In this paper, we present an approach which enables a low-cost quadrocopter to fly various trajectories autonomously. Artificial landmarks are used for pose estimation, and a fuzzy controller is utilized to generate steering commands. The presented system can navigate a low-cost quadrocopter along a predefined path without the need for any additional external sensors. In addition to a full description of our system, we also introduce our software package for Robot Operating System, which allows the robotics community to experiment with proposed mapping algorithm.

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Acknowledgements

The authors wish to thank the project VEGA 459 1/0464/15 for its support. This work was supported by the Slovak Research and Development Agency under the contract No. APVV-15-0750.

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Authors and Affiliations

  1. Faculty of Electrical Engineering and Informatics, Department of Electrical Engineering and Mechatronics, Technical University of Kosice, Letna 9, 042 00, Kosice, Slovakia

    Jan Bacik, Pavol Fedor & Daniela Perdukova

  2. Faculty of Mechanical Engineering, Department of Automation, Mechatronics and Robotics, Technical University of Kosice, Park Komenskeho 8, 042 00, Kosice, Slovakia

    Frantisek Durovsky

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  1. Jan Bacik
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  2. Frantisek Durovsky
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Correspondence to Jan Bacik.

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Bacik, J., Durovsky, F., Fedor, P. et al. Autonomous flying with quadrocopter using fuzzy control and ArUco markers. Intel Serv Robotics 10, 185–194 (2017). https://doi.org/10.1007/s11370-017-0219-8

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  • DOI: https://doi.org/10.1007/s11370-017-0219-8

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