This video presents an autonomous 250 g quadrotor performing aggressive maneuvers using a qualcomm snapdragon flight and relying only on on-board computation and sensor capabilities. The control planning and estimation tasks are solved based on the information provided by a single camera and an IMU.
We show aggressive trajectories around poles and narrow window gaps at different inclinations. Our system is able to traverse narrow gaps requiring accelerations up to 1.5 g and roll and pitch angles up to 90 degrees with velocities of 5 m/s.
The current approach does not require any switching control strategy and it is fully based on the information of only a single camera and IMU. This is the first time that aggressive maneuvers are solved with such a small footprint vehicle, using only on-board sensors and without relying on external motion capture systems.
Source: YouTube