Precise trajectory tracking control for a quadcopter aerial vehicle using only a monocular camera and inertial sensing for localization is introduced in this work. Two different control laws based on linear behavior are proposed to follow desired trajectories. The algorithms are validated in real-time in the low-cost Parrot AR.Drone vehicle. Time-scale separation of the traslational and rotational dynamics allows to design controllers for the position of the quadrotor by giving desired reference roll and pitch angles to the internal autopilot. Localization is achieved via monocular SLAM (Simultaneous Localization and Mapping) and a suitable state estimator, both available as open-source code. The experimental results depicted in some graphs show the good behavior of the closed-loop system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Quadrotor's trajectory tracking control using monocular vision navigation


    Beteiligte:
    Mercado, D. A. (Autor:in) / Castillo, P. (Autor:in) / Lozano, R. (Autor:in)


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    886703 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Embedded control using monocular vision: Face tracking

    Flores-Delgado, J. I. / Martinez-Santos, L. G. / Lozano, R. et al. | IEEE | 2017


    Moving vehicle detection and tracking using monocular vision

    Miao,X. / Li,S. / Shen,H. et al. | Kraftfahrwesen | 2014



    Moving vehicle detection and tracking using monocular vision

    Miao, Xiaoding / Li, Shunming / Shen, Huan et al. | Tema Archiv | 2014


    Real-time robust tracking control for a quadrotor using monocular vision

    Montoya-Morales, JR / Guerrero-Sánchez, ME / Valencia-Palomo, G et al. | SAGE Publications | 2023