Sensor-Based 3-D Pose Estimation and Control of Rotary-Wing UAVs Using a 2-D LiDAR

  • Alexandre Gomes
  • Bruno J. GuerreiroEmail author
  • Rita Cunha
  • Carlos Silvestre
  • Paulo Oliveira
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 693)


This paper addresses the problem of deriving attitude estimation and trajectory tracking strategies for unmanned aerial vehicles (UAVs) using exclusively on-board sensors. The perception of the vehicle position and attitude relative to a structure is achieved by robustly comparing a known pier geometry or map with the data provided by a LiDAR sensor, solving an optimization problem and also robustly identifying outliers. Building on this information, several methods are discussed for obtaining the attitude of the vehicle with respect to the structure, including a nonlinear observer to estimate the vehicle attitude on \(\mathcal {SO}(3)\). A simple nonlinear control strategy is also designed with the objective of providing an accurate trajectory tracking control relative to the structure, and experimental results are provided for the performance evaluation of the proposed algorithms.



This work was partly funded by the Macao Science and Technology Development Fund (FDCT) through Grants FDCT/-048/-2014/-A1 and FDCT/-026/-2017/-A1, by the project MYRG2015-00127-FST of the University of Macau, by LARSyS project FCT:UID/-EEA/-50009/2013, and by the European Union’s Horizon 2020 programme (grant No 731667, MULTIDRONE). The work of Bruno Guerreiro was supported by the FCT Post-doc Grant SFRH/-BPD/-110416/-2015, whereas the work of Rita Cunha was funded by the FCT Investigator Programme IF/00921/2013. This publication reflects the authors’ views only, and the European Commission is not responsible for any use that may be made of the information it contains. The authors express their gratitude to the DSOR team, in particular to B. Gomes, for helping with the experimental trials.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Alexandre Gomes
    • 1
  • Bruno J. Guerreiro
    • 1
    Email author
  • Rita Cunha
    • 1
  • Carlos Silvestre
    • 1
    • 2
  • Paulo Oliveira
    • 1
    • 3
  1. 1.Institute for Systems and Robotics (ISR/IST), LARSYS, Instituto Superior TécnicoUniversidade de LisboaLisbonPortugal
  2. 2.Department of Electrical and Computer Engineering, Faculty of Science and TechnologyUniversity of MacauTaipaChina
  3. 3.Associated Laboratory for Energy, Transports, and Aeronautics (LAETA), Instituto Superior TécnicoUniversidade de LisboaLisbonPortugal

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