Title :
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
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;
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
DOI :
10.1109/ICMA.2009.5246422
