Title :
Stabilization of a helicopter using optical flow
Author :
Zamudio, Z. ; Lozano, R. ; Torres, J. ; Campos, E.
Author_Institution :
Autom. Control Dept., CINVESTAV-IPN, Mexico City, Mexico
Abstract :
Estimating position and orientation (pose) of an object in real time constitutes an important issue for vision-based control of robots. In this paper, we present a nonlinear controller design based on vision and its application in a quadrotor. Experiment results show good performance of the proposed controller using “real-time” optical flow and image processing.
Keywords :
computer vision; control system synthesis; helicopters; image sequences; nonlinear control systems; stability; helicopter; image processing; nonlinear controller design; optical flow; quadrotor; robots; stabilization; vision-based control; Adaptive optics; Cameras; Equations; Helicopters; Machine vision; Optical imaging; Rotors; Control; quadrotor; real-time systems; vision systems;
Conference_Titel :
Electrical Engineering Computing Science and Automatic Control (CCE), 2011 8th International Conference on
Conference_Location :
Merida City
Print_ISBN :
978-1-4577-1011-7
DOI :
10.1109/ICEEE.2011.6106690
