Experimental vision regulation of a quadrotor

J. De J. Rubio; Z. Zamudio; J. A. Meda; M. A. Moreno

doi:10.1109/TLA.2015.7331906

Experimental vision regulation of a quadrotor

J. De J. Rubio, Z. Zamudio, J. A. Meda, M. A. Moreno

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17 Scopus citations

Abstract

In this paper, the vision regulation of a quadrotor is introduced. The objective of the regulation is to maintain the vehicle in a desired and constant position. The proposed strategy consists in three steps: 1) a camera is employed as a retro to obtain the position, 2) the optical flow of the Lucas and Kanade method is applied to obtain the linear velocity, 3) the position and velocity are employed by a proportional integral derivative control (PID) with nested saturation for the quadrotor regulation. In addition, the comparison between the monocular and stereo visions is showed.

Original language	English
Article number	7331906
Pages (from-to)	2514-2523
Number of pages	10
Journal	IEEE Latin America Transactions
Volume	13
Issue number	8
DOIs	https://doi.org/10.1109/TLA.2015.7331906
State	Published - Aug 2015

Keywords

Stereo vision
analytic modeling
monocular vision
proportional integral derivative control
quadrotor

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10.1109/TLA.2015.7331906

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abstract = "In this paper, the vision regulation of a quadrotor is introduced. The objective of the regulation is to maintain the vehicle in a desired and constant position. The proposed strategy consists in three steps: 1) a camera is employed as a retro to obtain the position, 2) the optical flow of the Lucas and Kanade method is applied to obtain the linear velocity, 3) the position and velocity are employed by a proportional integral derivative control (PID) with nested saturation for the quadrotor regulation. In addition, the comparison between the monocular and stereo visions is showed.",

keywords = "Stereo vision, analytic modeling, monocular vision, proportional integral derivative control, quadrotor",

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AB - In this paper, the vision regulation of a quadrotor is introduced. The objective of the regulation is to maintain the vehicle in a desired and constant position. The proposed strategy consists in three steps: 1) a camera is employed as a retro to obtain the position, 2) the optical flow of the Lucas and Kanade method is applied to obtain the linear velocity, 3) the position and velocity are employed by a proportional integral derivative control (PID) with nested saturation for the quadrotor regulation. In addition, the comparison between the monocular and stereo visions is showed.

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Experimental vision regulation of a quadrotor

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Keywords

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