Overview
- Provides the reader with a complete platform description of the quad-rotor system
- Computer-vision algorithms detailed in a didactic manner, easy-to-understand and implement
- State estimators and control methods are clearly explained so as to be simple to adapt or extend to the reader’s own systems
- Includes supplementary material: sn.pub/extras
Part of the book series: Advances in Industrial Control (AIC)
Access this book
Tax calculation will be finalised at checkout
Other ways to access
Table of contents (8 chapters)
-
Front Matter
-
Back Matter
Keywords
About this book
The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks.
Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task.
In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer.
The textgive the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.
Authors and Affiliations
Bibliographic Information
Book Title: Quad Rotorcraft Control
Book Subtitle: Vision-Based Hovering and Navigation
Authors: Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
Series Title: Advances in Industrial Control
DOI: https://doi.org/10.1007/978-1-4471-4399-4
Publisher: Springer London
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag London 2013
Hardcover ISBN: 978-1-4471-4398-7Published: 10 August 2012
Softcover ISBN: 978-1-4471-6973-4Published: 23 August 2016
eBook ISBN: 978-1-4471-4399-4Published: 12 August 2012
Series ISSN: 1430-9491
Series E-ISSN: 2193-1577
Edition Number: 1
Number of Pages: XIX, 179
Topics: Control and Systems Theory, Aerospace Technology and Astronautics, Image Processing and Computer Vision, Robotics and Automation