Journal ArticleDOI
Stabilization and Trajectory Tracking of a Quad-Rotor Using Vision
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TLDR
A vision-based position control method is proposed, with the purpose of providing some level of autonomy to a quad-rotor unmanned aerial vehicle and a method to measure translational speed in a local frame.Abstract:
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.read more
Citations
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Proceedings ArticleDOI
Autonomous landing of a VTOL UAV on a moving platform using image-based visual servoing
Daewon Lee,Tyler Ryan,H. Jin Kim +2 more
TL;DR: An image-based visual servoing algorithm to control a vertical-takeoff-and-landing unmanned aerial vehicle while tracking and landing on a moving platform and generates a velocity reference command used as the input to an adaptive sliding mode controller is described.
Journal ArticleDOI
Multirobot Rendezvous Planning for Recharging in Persistent Tasks
TL;DR: The problem is solved by first formulating the rendezvous planning problem to recharge each UAV once using both an integer linear program and a transformation to the Travelling Salesman Problem, and then leveraged to plan recurring rendezvous' over longer horizons using fixed horizon and receding horizon strategies.
Journal ArticleDOI
System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization
Martin Saska,Tomas Baca,Justin Thomas,Jan Chudoba,Libor Preucil,Tomas Krajnik,Jan Faigl,Giuseppe Loianno,Vijay Kumar +8 more
TL;DR: This work verifies the possibility of self-stabilization of multi-MAV groups without an external global positioning system, and deployment of the system in real-world scenarios truthfully verifies its operational constraints.
Proceedings Article
Combining Stereo Vision and Inertial Navigation System for a Quad-Rotor UAV
TL;DR: The development of a quad-rotor robotic platform equipped with a visual and inertial motion estimation system capable of autonomously perform take-off, positioning, navigation and landing in unknown environments is presented.
Journal ArticleDOI
Quadrotors unmanned aerial vehicles: a review
TL;DR: Based on the information summarized from 160 researches available, different control targets and flight missions are analysed and classified, and according to it, a general flight mission map is introduced.
References
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Journal ArticleDOI
Real-time stabilization and tracking of a four-rotor mini rotorcraft
TL;DR: Real-time experiments show that the proposed controller is able to perform autonomously the tasks of taking off, hovering, and landing and the global stability analysis of the closed-loop system is presented.
Journal ArticleDOI
Visually guided landing of an unmanned aerial vehicle
TL;DR: In this article, a real-time, vision-based landing algorithm for an autonomous helicopter is presented, which is integrated with algorithms for visual acquisition of the target (a helipad) and navigation to the target, from an arbitrary initial position and orientation.