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amcl and navigation stack on a quadrotor

asked 2012-08-23 09:41:14 -0600

ahmad malkawi gravatar image

updated 2012-08-24 05:49:41 -0600

jbohren gravatar image

is it easy or possible to use amcl and navigation stack on asctec pelican ?? with hykou 30 lx

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the thing is that the laser come with the quad rotor is a 2d

ahmad malkawi gravatar imageahmad malkawi ( 2012-08-24 07:39:41 -0600 )edit

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answered 2012-08-24 06:22:11 -0600

Markus Achtelik gravatar image

Getting height information could be fixed by deflecting some beams to the ground with a mirror. In case you want to use that inside a position control loop for the quadcopter, keep in mind that this is a dynamic system and you need to estimate velocity. So the framerate you would get either by onboard computing or streaming the scans offboard might not be sufficient for that. Also, you need to compensate the measured laser-scans for roll and pitch motions of the quadcopter. Here is some work that has been done with laserscanners on quadcopters, which might be helpful:

http://groups.csail.mit.edu/rrg/papers/spie09.pdf

https://fling.seas.upenn.edu/~nmichael/cgi-bin/wiki/uploads/Main/icra2011_shen.pdf

So back to the original question: it will not be straight forward or easy to use it, but it would be possible with some underlying odometry and imu data fusion as described in the papers.

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answered 2012-08-24 05:38:38 -0600

jbohren gravatar image

As it says on the AMCL page and the navigation stack page, these tools are for 2D navigation only. If you only care about 2D navigation on your quadrotor, then you should be able to follow the tutorial for setting up the navigation stack on your robot.

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Asked: 2012-08-23 09:41:14 -0600

Seen: 431 times

Last updated: Aug 24 '12