کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
412534 679650 2012 11 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Quadrocopter control using an on-board video system with off-board processing
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Quadrocopter control using an on-board video system with off-board processing
چکیده انگلیسی

In recent years, Unmanned Aerial Vehicles (UAVs) have gained increasing popularity. These vehicles are employed in many applications, from military operations to civilian tasks. One of the main fields of UAV research is the vehicle positioning problem. Fully autonomous vehicles are required to be as self-sustained as possible in terms of external sensors. To achieve this in situations where the global positioning system (GPS) does not function, computer vision can be used. This paper presents an implementation of computer vision to hold a quadrotor aircraft in a stable hovering position using a low-cost, consumer-grade, video system. The successful implementation of this system required the development of a data-fusion algorithm that uses both inertial sensors and visual system measurements for the purpose of positioning. The system design is unique in its ability to successfully handle missing and considerably delayed video system data. Finally, a control algorithm was implemented and the whole system was tested experimentally. The results suggest the successful continuation of research in this field.


► Successful handling of missing and considerably delayed video system data with the application in robust visual servo control.
► On-board Kalman filtering with reduced computational requirements.
► Sensor fusion of the variably delayed sensor measurements.
► Experiment-proven implementation on a X-3D quadrocopter.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 60, Issue 4, April 2012, Pages 657–667
نویسندگان
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