JRM Vol.28 No.6 pp. 878-886
doi: 10.20965/jrm.2016.p0878


State Estimation and Control of an Unmanned Air Vehicle from a Ground-Based 3D Laser Scanner

Ryan Arya Pratama and Akihisa Ohya

Graduate School of Systems and Information Engineering, University of Tsukuba
1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

May 26, 2016
September 26, 2016
December 20, 2016
UAV, data fusion, control, 3D laser scanner
UAV state estimation from laser scanner

UAV state estimation from laser scanner

In this work, we present a system to estimate the state of and control an Unmanned Air Vehicle (UAV) from a ground-based 3D laser scanner. The main contributions of this work are on data fusion between a low-frequency 3D laser scanner with considerable delay and an on-board 6-DOF IMU, and on automatic position control of a UAV using state estimate obtained from the fusion. We measured laser delay using data from a manually controlled flight. We have devised a method to perform online estimation and compensation of accelerometer offset using delay-corrected laser measurement. We then use the UAV state estimation in a nested controller with a high-frequency velocity control inner loop and a low-frequency position control outer loop. We demonstrated the state estimation and control in a series of experiments on velocity control and position control, including a comparison between position control using fusion data and only laser data.
Cite this article as:
R. Pratama and A. Ohya, “State Estimation and Control of an Unmanned Air Vehicle from a Ground-Based 3D Laser Scanner,” J. Robot. Mechatron., Vol.28 No.6, pp. 878-886, 2016.
Data files:
  1. [1] S. Lupashin, A. Schollig, M. Hehn, and R. D’Andrea, “The Flying Machine Arena as of 2010,” 2011 IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 2970-2971, 2011.
  2. [2] N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, “The grasp multiple micro-uav testbed,” IEEE Robotics & Automation Magazine, Vol.17, No.3, pp. 56-65, 2010.
  3. [3] M. F. B. Abas, D. Pebrianti, S. A. M. Ali, D. Iwakura, Y. Song, K. Nonami, and D. Fujiwara, “Circular Leader-Follower Formation Control of Quad-rotor Aerial Vehicles,” J. of Robotics and Mechatronics, Vol.25, No.1, pp. 60-71, 2013.
  4. [4] K. Sato and R. Daikoku, “A Simple Autonomous Flight Control of Multicopter Using Only Web Camera,” J. of Robotics and Mechatronics, Vol.28, No.3, pp. 286-294, 2016.
  5. [5] J. Engel, J. Sturm, and D. Cremers, “Camera-Based Navigation of a Low-Cost Quadrocopter,” Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), Oct. 2012.
  6. [6] D. Iwakura and K. Nonami, “Indoor localization of flying robot by means of infrared sensors,” J. of Robotics and Mechatronics, Vol.25, No.1, pp. 201-210, 2013.
  7. [7] N. Michael, J. Fink, and V. Kumar, “Controlling a team of ground robots via an aerial robot,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2007 (IROS 2007), pp. 965-970, 2007.
  8. [8] C. Luo, A. P. Espinosa, A. De Gloria, and R. Sgherri, “Air-ground multi-agent robot team coordination,” 2011 IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 6588-6591, 2011.
  9. [9] Y. Cai and S. Kousuke, “Geometric Relation matching based object identification for UAV and UGV cooperation,” 2015 Conf. on Technologies and Applications of Artificial Intelligence (TAAI), pp. 478-483, 2015.
  10. [10] M. Faessler, E. Mueggler, K. Schwabe, and D. Scaramuzza, “A Monocular Pose Estimation System based on Infrared LEDs,” IEEE Int. Conf. on Robotics and Automation (ICRA), Hong Kong, 2014.
  11. [11] J. Mart’inez, A. Pequeno-Boter, A. Mandow, A. Garc’ia-Cerezo, and J. Morales, “Progress in mini-helicopter tracking with a 3D laser range-finder,” World Congress, Vol.16, pp. 1377-1377, 2005.
  12. [12] R. A. Pratama and A. Ohya, “Tracking and control of a small unmanned aerial vehicle using a ground-based 3D laser scanner,” 2014 IEEE/SICE Int. Symposium on System Integration (SII), pp. 718-723, Dec. 2014.
  13. [13] O. Wulf and B. Wagner, “Fast 3D scanning methods for laser measurement systems,” Int. Conf. on control systems and computer science (CSCS14), pp. 2-5, 2003.
  14. [14] J. Morales, J. L. Martinez, A. Mandow, A. Pequeño-Boter, and A. Garcia-Cerezo, “Design and development of a fast and precise low-cost 3D laser rangefinder,” 2011 IEEE Int. Conf. on Mechatronics (ICM), pp. 621-626, 2011.
  15. [15] K. Ohno, S. Tadokoro, K. Nagatani, E. Koyanagi, and T. Yoshida, “3-D mapping of an underground mall using a tracked vehicle with four sub-tracks,” 2009 IEEE Int. Workshop on Safety, Security & Rescue Robotics (SSRR), pp. 1-6, 2009.
  16. [16] M. Quigley, K. Conley, B. P. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, “ROS: an open-source Robot Operating System,” ICRA Workshop on Open Source Software, 2009.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on May. 24, 2023