Abstract
This paper presents the use of an external vision-based positioning system for navigation and flight control of micro aerial vehicles. The motion capture system Optitrack is used to localize the vehicle which is a nano-quadcopter Crazyflie 2.0. An interface was created to pass positioning data to the Robot Operating Software (ROS). ROS acts as communication layer to bridge between Optitrack and available control nodes for Crazyflie 2.0 platforms.
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Acknowledgements
The authors would like to thank Dr. Spot Srigrarom from the University of Glasgow Singapore to provide access to the Optitrack UAV facility. The authors would also like to acknowledge the technical advice from Paul Beuchat at ETH Zurich.
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Leong, X.W., Hesse, H. (2019). Vision-Based Navigation for Control of Micro Aerial Vehicles. In: Guo, H., Ren, H., Bandla, A. (eds) IRC-SET 2018. Springer, Singapore. https://doi.org/10.1007/978-981-32-9828-6_33
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DOI: https://doi.org/10.1007/978-981-32-9828-6_33
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