In this paper, a formation control method of quadrotor Unmanned Aerial Vehicles (UAVs) by vision-based positioning is presented. The relative positions and attitudes of two UAVs with respect to a visual marker attached to the third UAV is estimated by a camera calibration method. Based on the estimated positions and attitudes, two UAVs are controlled to the desired positions to form a given formation with respect to the third UAV. A simplified dynamics model of a quadrotor UAV is utilized to design a controller. The proposed formation control method is validated by an experiment with a motion capture system which provides the ground truth of the position data.


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    Titel :

    Formation Control of Quadrotor UAVs by Vision-Based Positioning



    Erschienen in:

    Erscheinungsdatum :

    19.10.2015


    Format / Umfang :

    5 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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