Real-time stabilization of an eight-rotor UAV usingoptical flow

Authors:
Hugo Romero;Sergio Salazar;Rogelio Lozano
Affiliations:
Center for Res, on Inf. Tech. and Sys., Univ. Autónoma del Estado de Hidalgo, Mexico and Lab. Franco-Mexicano de Inf. y Automática Aplicadas, Centre Natl. de la Recherche Scientific, Cen ...;Lab. Franco-Mexicano de Inf. y Automática Aplicadas, Franco-Mexicano de Inf. Automática Aplicadas, Centre Natl. de la Recherche Scientific, Centro de Investigación y de Est. Avanzad ...;Heudiasyc, Univ. of Tech. of Compiègne, Centre de Recherches de Royallieu, Compiègne, France and Franco-Mexicano de Inf. Automática Aplicadas, Centre Natl. de la Recherche Scientifi ...
Venue:
IEEE Transactions on Robotics
Year:
2009

Citing 2
Cited 8

The computation of optical flow

ACM Computing Surveys (CSUR)
Multiple view geometry in computer visiond

Multiple view geometry in computer visiond

Stabilization and Trajectory Tracking of a Quad-Rotor Using Vision

Journal of Intelligent and Robotic Systems
Flight trajectory control of an eight-rotor UAV for enhanced situational awareness

Proceedings of the 15th WSEAS international conference on Systems
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems

Journal of Field Robotics
On the design and development of attitude stabilization, vision-based navigation, and aerial gripping for a low-cost quadrotor

Autonomous Robots
A Quadrotor Test Bench for Six Degree of Freedom Flight

Journal of Intelligent and Robotic Systems
Real-time Stabilization of a Quadrotor UAV: Nonlinear Optimal and Suboptimal Control

Journal of Intelligent and Robotic Systems
Predictor-based Position Control of a Quad-rotor with Delays in GPS and Vision Measurements

Journal of Intelligent and Robotic Systems
A Survey of Optical Flow Techniques for Robotics Navigation Applications

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

An original configuration of a small aerial vehicle having eight rotors is presented. Four rotors are devoted to the stabilization of the orientation of the helicopter, and the other four are used to drive the lateral displacements. A precompensation on the roll and pitch angles has been introduced so that the attitude dynamics is practically independent of the translational dynamics. This compensation is directly related to the velocity of the lateral motors. The dynamical model is obtained using the Euler-Lagrange approach. The proposed configuration is particularly useful for image processing since the the camera orientation is held constant. The eight-rotor rotorcraft is simpler to pilot than other rotorcrafts. A control strategy is proposed that uses the optical flow measurements to achieve a hover flight that is robust with respect to perturbations like wind. The new aerial configuration and control strategy have been tested in real-time experiments.