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Article Dans Une Revue Journal of Intelligent and Robotic Systems Année : 2012

Vision based tracking for a quadrotor using vanishing points

Résumé

In this paper, a vision based line tracking control strategy for mini-rotorcraft is presented. In order to estimate the 3-D position of the mini-rotorcraft over the trajectory a vanishing points technique is used. A dynamic model is derived employing the Newton-Euler approach and a nonlinear controller to stabilize, in closed-loop system, this mathematical model is proposed. To validate the theoretical results, a real-time embedded control system has been developed. The performance of the vision and control algorithms has been tested when the helicopter has tracked a line painted in a wall. The experimental results have shown the good behavior of the control laws.

Dates et versions

hal-00660293 , version 1 (16-01-2012)

Identifiants

Citer

Jose-Ernesto Gomez-Balderas, Pedro Castillo Garcia, Jose Alfredo Guerrero, Sergio Salazar, R. Lozano. Vision based tracking for a quadrotor using vanishing points. Journal of Intelligent and Robotic Systems, 2012, 65 (1), pp.361-371. ⟨10.1007/s10846-011-9579-z⟩. ⟨hal-00660293⟩
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