DocumentCode :
1979913
Title :
Visual servoing quadrotor control in autonomous target search
Author :
Darma, S. ; Buessler, J.L. ; Hermann, Gyula ; Urban, J.P. ; Kusumoputro, Benyamin
Author_Institution :
Lab. MIPS, Univ. de Haute Alsace, Mulhouse, France
fYear :
2013
fDate :
19-20 Aug. 2013
Firstpage :
319
Lastpage :
324
Abstract :
The use of visual input for quadrotor unmanned aerial vehicle control calls for fast algorithms to identify and localize target objects in the video image. Localization of target is done using color histogram. Advantage of this method is not only capable to detect the target but it also give information on size that we use to calculate its position relative to the quadrotor. Once the target found, the quadrotor is guided using visual feedback control for the approach and then the precise pose position is maintained. In the desired position in front of the target, an angle of orientation is calculated using the detection and positioning technique. This angle controls yaw movement of the quadrotor, providing an ability to orientate its position when it arrives with a certain angle relative to target plane. Experiments were done in the indoor environment in sufficient light condition. A search order is defined based on patterns inside target images. The quadrotor takes off, then locates, approaches and orientates itself successively on four patterns found on four targets, and finally lands.
Keywords :
aircraft control; autonomous aerial vehicles; feedback; helicopters; image colour analysis; mobile robots; object detection; object recognition; position control; robot vision; video signal processing; visual servoing; autonomous target search; color histogram; detection technique; indoor environment; light condition; orientation angle; pose position maintenance; positioning technique; quadrotor orientation; quadrotor unmanned aerial vehicle control; search order; size information; target detection; target image patterns; target object identification; target object localization; target position; video image; visual feedback control; visual input; visual servoing quadrotor control; yaw movement control; Cameras; Feedback control; Histograms; Image color analysis; PD control; Three-dimensional displays; Visualization; Quadrotor; color histogram; detection and positioning; orientation; visual feedback control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Engineering and Technology (ICSET), 2013 IEEE 3rd International Conference on
Conference_Location :
Shah Alam
Print_ISBN :
978-1-4799-1028-1
Type :
conf
DOI :
10.1109/ICSEngT.2013.6650192
Filename :
6650192
Link To Document :
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