This work proposes a pose-based visual servoing control, through using planar homography, to estimate the position and orientation of a miniature helicopter relative to a known pattern. Once having the current flight information, the nonlinear underactuated controller presented in one of our previous works, which attends all flight phases, is used to guide the rotorcraft during a 3Dtrajectory tracking task. In the sequel, the simulation framework and the results obtained using it are presented and discussed, validating the proposed controller when a visual system is used to determine the helicopter pose information. ; Fil: Brandão, Alexandre . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil ; Fil: Sarapura, Jorge Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina ; Fil: Sarcinelli Filho, Mario . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil ; Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking



    Anmerkungen:

    1851-8796


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, Gabriel / Waslander, Steven / Tomlin, Claire | AIAA | 2008


    Quadrotor Helicopter Trajectory Tracking Control

    Hoffmann, G. / Waslander, S. / Tomlin, C. et al. | British Library Conference Proceedings | 2008


    MPC-based Estimation-Aware Trajectory Generation for Uncontrolled Satellite Pose Tracking

    Deole, Aditya / Pozzan, Beniamino / Mesbahi, Mehran | AIAA | 2024


    Trajectory tracking for a helicopter model

    Avanzini, G. | Online Contents | 2001


    Homography based state estimation for aerial robots

    Schwendner, Jakob | Tema Archiv | 2008