In this chapter, two vision‐based coordination schemes for autonomous hovering and tracking of a miniature quadrotor are developed. It proposes a control scheme capable of working at a sampling rate compatible with respect to the desired bandwidth of the closed‐loop system. Two visual servoing approaches are proposed in this chapter for stabilizing a miniature quadrotor. In both the approaches, we use two cameras. One camera to compute the three‐dimensional (3D) position of quadrotor with respect to a known object using image rectification. The second camera pointing downward has been mounted on the miniature quadrotor to estimate the translational velocity of the vehicle. The experimental tests showed that the quadrotor performed well during hover flight using the proposed vision‐based control systems. Future work in this area includes tracking a wall for inspection purposes using the vision system as well as tracking a moving visual target. closed loop systems; computer vision; tracking loops
Quadrotor Vision‐Based Control
Flight Formation Control ; 191-224
01.02.2012
34 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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