2017 | OriginalPaper | Buchkapitel
ROS-Gazebo Supported Platform for Tag-in-Loop Indoor Localization of Quadrocopter
Erschienen in:
Intelligent Autonomous Systems 14
Abstract
Localization and navigation inside GPS-denied buildings has been one of the main technological challenges of quadrocopter researches. Hereafter, this paper proposes and develops a supporting research platform integrated with 2D tag visual fiducials for quadrocopter indoor autonomous localization. Robot operating system (ROS) and Gazebo are simultaneously fused into the integrated platform. Under such circumstances, tag-involved images are sequentially captured via on-board cameras, while vehicle position/posture is achieved via off-board processing based on the open-source AprilTag algorithm. Simulation and experiments of the AR.Drone 2.0 are conducted to demonstrate the system architecture and workflow of the developed tag-in-loop indoor localization research platform. The results validate the effectiveness and application potentials of the ROS-Gazebo platform to support quadrocopters’ autonomous indoor localization, flight autopilot, and cooperative control, etc.
