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Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2012

Stabilization and trajectory Tracking of a quad rotor using vision

Résumé

We propose a vision-based position control method, with the purpose of providing some level of autonomy to a quad-rotor unmanned aerial vehicle. Our approach estimates the helicopter X-Y-Z position with respect to a landing pad on the ground. This technique allows us to measure the position variables that are difficult to compute when using conventional navigation systems, for example inertial sensors or Global Positioning Systems in urban environment or indoor. We also present a method to measure translational speed in a local frame. The control strategy implemented is based on a full state feedback controller. Experimental results validate the effectiveness of our method.

Domaines

Automatique

Dates et versions

hal-00937442 , version 1 (28-01-2014)

Identifiants

Citer

L.R. García, E. Rondon, A. Sanchez, A. Dzul, R. Lozano. Stabilization and trajectory Tracking of a quad rotor using vision. Journal of Intelligent and Robotic Systems, 2012, 61 (1-4), pp.103-118. ⟨10.1007/s10846-010-9472-1⟩. ⟨hal-00937442⟩
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