Autonomous hovering of a vision/IMU guided quadrotor

Author

Zhang, Tianguang ; Kang, Ye ; Achtelik, Markus ; Kühnlenz, Kolja ; Buss, Martin

Author_Institution

Inst. of Autom. Control Eng. (LSR), Tech. Univ. Munchen, Munich, Germany

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

2870

Lastpage

2875

Abstract

We describe a multi-sensory control architecture for hovering of a mini four-rotor unmanned aerial vehicle (UAV) over specified markers as an external reference for pose estimation utilizing two on-board sensors: a tiny single camera and Inertial Measurement Units. A high-speed pose estimation approach based on visual information is presented. A closed-loop system is implemented using PID pose-controllers. The control performance is improved by integration of IMU measurement. Results of a real-time experiment are presented.

Keywords

aircraft; closed loop systems; image sensors; mobile robots; pose estimation; remotely operated vehicles; robot vision; rotors; three-term control; GUI guided mini four-rotor unmanned aerial vehicle; PID pose-controllers; autonomous hovering; closed-loop system; inertial measurement units; pose estimation; single camera; vision guided mini four-rotor unmanned aerial vehicle; Automation; Automotive engineering; Cameras; Control systems; Machine vision; Measurement units; Mechatronics; Position measurement; Sensor phenomena and characterization; Unmanned aerial vehicles; UAV/MAV control; Vision system; multiple sensing system; pose estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246422

Filename

5246422