A Novel Method for Straight Take-Off of Quadrotors in GPS-Denied Environments Utilizing Optical Flow
摘要
The take-off maneuver has significance for unmanned aerial vehicles in general, and quadrotors in particular. The technique necessitates quick and accurate predictions of position and velocity, which ordinary autopilot systems are incapable of providing in GPS-denied environments. Our work reported here suggests a position and velocity estimator during take-off utilizing the optical flow method to increase the accuracy of straight take-off and eliminate improper rotations that lead to trajectory misalignment. Estimates are made using data from an integrated module that includes a based-flow sensor and a ultrasonic sensor. The article includes a simulation for evaluating the controller's performance. Furthermore, an outdoor experiment is used to demonstrate that the strategy is practical and effective.