Stabilization and Trajectory Tracking of a Quad-Rotor Using Vision

Authors:
L. R. García Carrillo;E. Rondon;A. Sanchez;A. Dzul;R. Lozano
Affiliations:
Heudiasyc, UMR CNRS 6599, Compiègne University of Technology, Compiègne, France;Heudiasyc, UMR CNRS 6599, Compiègne University of Technology, Compiègne, France;Robotics and Advanced Manufacturing Division, Research Center for Advanced Studies, Cinvestav, Coahuila, México;Research Studies and Postgraduate Division, Laguna Technological Institute, Coahuila, México;Heudiasyc UMR 6599, UTC CNRS, Compiègne, France and LAFMIA UMI 3175, Cinvestav, Coahuila, México
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

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Abstract

We propose a vision-based position control method, with the purpose of providing some level of autonomy to a quad-rotor unmanned aerial vehicle. Our approach estimates the helicopter X-Y-Z position with respect to a landing pad on the ground. This technique allows us to measure the position variables that are difficult to compute when using conventional navigation systems, for example inertial sensors or Global Positioning Systems in urban environment or indoor. We also present a method to measure translational speed in a local frame. The control strategy implemented is based on a full state feedback controller. Experimental results validate the effectiveness of our method.