A 10-gram Vision-based Flying Robot

• Published in: Advanced Robotics, vol. 21, num. 14, p. 1671-1684
• Publication date: 2007

We aim at developing ultralight autonomous microflyers capable of freely flying within houses or small built environments while avoiding collisions. Our latest prototype is a fixed-wing aircraft weighing a mere 10 g, flying around 1.5 m/s and carrying the necessary electronics for airspeed regulation and lateral collision avoidance. This microflyer is equipped with two tiny camera modules, two rate gyroscopes, an anemometer, a small microcontroller, and a Bluetooth radio module. Inflight tests are carried out in a new experimentation room specifically designed for easy changing of surrounding textures.

Note: Special issue on IROS2006

Keywords: indoor flying robot ; vision-based navigation ; collision avoidance ; optic flow

Reference

• LIS-ARTICLE-2007-004
• doi:10.1163/156855307782227417
• View record in Web of Science

• URL: http://www.springerlink.com/content/9153v4j17j58289p/

Record created on 2007-07-11, modified on 2012-03-21