Experimental vision regulation of a quadrotor

Author

De Jesus Rubio, Jose ; Zamudio, Zizilia ; Meda Campana, Jesus Alberto ; Moreno Armendariz, Marco Antonio

Author_Institution

Seccion de Estudios de Posgrado e Investig., Inst. Politec. Nac., Mexico City, Mexico

Volume

13

Issue

8

fYear

2015

Firstpage

2514

Lastpage

2523

Abstract

In this paper, the vision regulation of a quadrotor is introduced. The objective of the regulation is to maintain the vehicle in a desired and constant position. The proposed strategy consists in three steps: 1) a camera is employed as a retro to obtain the position, 2) the optical flow of the Lucas and Kanade method is applied to obtain the linear velocity, 3) the position and velocity are employed by a proportional integral derivative control (PID) with nested saturation for the quadrotor regulation. In addition, the comparison between the monocular and stereo visions is showed.

Keywords

cameras; helicopters; image sequences; robot vision; stereo image processing; three-term control; Lucas-Kanade method; PID control; camera; experimental vision regulation; linear velocity; monocular vision; nested saturation; optical flow; proportional integral derivative control; quadrotor regulation; retro; stereo vision; Computer vision; Image motion analysis; Optical saturation; Silicon; Solid modeling; Three-dimensional displays; Vehicles; Stereo vision; analytic modeling; monocular vision; proportional integral derivative control; quadrotor;

fLanguage

English

Journal_Title

Latin America Transactions, IEEE (Revista IEEE America Latina)

Publisher

ieee

ISSN

1548-0992

Type

jour

DOI

10.1109/TLA.2015.7331906

Filename

7331906