In this paper a complete system is designed and implemented, in which the motion of a quadcopter is stably controlled based on visual feedback and measurements of inertial sensors. We focus on developing a cost effective and easy-to-setup vision system. Active markers were finely designed to improve visibility under various perspectives as well as robustness towards disturbances in the image-based pose estimation. Moreover, position- and heading controllers for the quadcopter were implemented to show the system's capabilities. The performance of the controllers was further improved by the use of inertial sensors of the quadcopter. A closed-loop control system is successfully conducted.


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    Titel :

    Visual Tracking and Control of a Quadcopter Using a Stereo Camera System and Inertial Sensors


    Beteiligte:
    Achtelik, Markus (Autor:in) / Zhang, Tianguang (Autor:in) / Kuhnlenz, Kolja (Autor:in) / Buss, Martin (Autor:in)


    Erscheinungsdatum :

    2009


    Format / Umfang :

    7 Seiten, 10 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





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