Visual Servoing of Quadrotor Micro-Air Vehicle Using Color-Based Tracking Algorithm
スポンサーリンク
概要
- 論文の詳細を見る
This paper describes a vision-based tracking system using an autonomous Quadrotor Unmanned Micro-Aerial Vehicle (MAV). The vision-based control system relies on color target detection and tracking algorithm using integral image, Kalman filters for relative pose estimation, and a nonlinear controller for the MAV stabilization and guidance. The vision algorithm relies on information from a single onboard camera. An arbitrary target can be selected in real-time from the ground control station, thereby outperforming template and learning-based approaches. Experimental results obtained from outdoor flight tests, showed that the vision-control system enabled the MAV to track and hover above the target as long as the battery is available. The target does not need to be pre-learned, or a template for detection. The results from image processing are sent to navigate a non-linear controller designed for the MAV by the researchers in our group.
著者
-
AZRAD Syaril
Graduate School of Engineering, Chiba University
-
Nonami Kenzo
Department For Electronics And Mechanical Engineering University Of Chiba
-
KENDOUL Farid
Graduate School of Engineering, Chiba University
関連論文
- Autonomous Hovering and Landing of a Quad-rotor Micro Aerial Vehicle by Means of on Ground Stereo Vision System
- Visual Servoing of Quadrotor Micro-Air Vehicle Using Color-Based Tracking Algorithm
- Development and Control of Mine Detection Robot COMET-II and COMET-III(Advances in Motion and Vibration Control Technology)
- Unbalance Vibration Control of Magnetic Bearing Systems Using Adaptive Algorithm with Disturbance Frequency Estimation
- T-2-3-3 Neuro-Based Position and Force Hybrid Control of Six-Legged Walking Robot
- AIR GAP CONTROL AT SENSOR HEAD OF MOBILE MANIPULATOR ON MINE DETECTION ROBOT
- Adaptive Unbalanced Vibration Control of Magnetic Bearing Systems with Rotational Synchronizing and Asynchronizing Harmonic Disturbance
- CAD Model Based Autonomous Locomotion of Quadruped Robot by Using Correction of Trajectory Planning with RNN
- Robust Control of Magnetic Bearing Systems Using μ-Synthesis with Descriptor Form
- Experimental Study on Active Vibration Control of Structures by means of H^∞ Control and H^2 Control
- Disturbance Cancellation Control for Vibration of Multi-Degree-of-Freedom Systems : Case of Using Active Vibration Absorber and Active Dynamic Vibration Absorber
- H^∞/μ Control-Based Frequency-Shaped Sliding Mode Control for Flexible Structures
- Robust Control of Magnetic Levitation Systems by Means of H^∞ Control/μ-Synthesis
- Variable Capacity Control of Compressor for Automotive Air-Conditioning System using Reference Model Following Based Sliding Mode Control
- DEXTEROUS HAND AND MANIPULATOR FOR A DEMINING ROBOT
- Force Sensorless Impedance Control of Dual-Arm Manipulator-Hand System
- Active Noise Control of Exhaust Duct Using Two-Degree-of-Freedom Control System with Model Matching
- Active Vibration Control of a Flexible Rotor Using H^∽ Control Theory
- Advanced Robust Gain Scheduled H_∞ Controller Design for AMB Systems with Gyroscopic Effect
- Output Feedback Sliding Mode Control for Bending and Torsional Vibration Control of 6-story Flexible Structure
- NONLINEAR ADAPTIVE OUTPUT FEEDBACK CONTROL DESIGN WITH UNKNOWN PARAMETER
- 3934 Walking Robot Locomotion by Object Oriented Petri Net Control Structure
- Robust Control of Flexible Rotor-Magnetic Bearing Systems Using Discrete Time Sliding Mode Control
- Sliding Mode Positioning Control of Single Link Flexible Arm Using H_∽ Control Hyperplane with Q Parametrization
- ADAPTIVE INTEGRAL CONTROL WITH SATISFACTORY TRANSIENTS FOR UNCERTAIN TIME-DELAY SYSTEMS
- ATTITUDE CONTROL OF SIX-LEGGED ROBOT USING OPTIMAL CONTROL THEORY
- Adaptive Vibration Control Using Frequency Estimation for Multiple Periodic Disturbances with Noise
- Sliding Mode Control with Frequency-shaped Hyperplane for a Ball Screw Driving Stage