Resumen
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.
Idioma original | Inglés |
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Número de artículo | 7331906 |
Páginas (desde-hasta) | 2514-2523 |
Número de páginas | 10 |
Publicación | IEEE Latin America Transactions |
Volumen | 13 |
N.º | 8 |
DOI | |
Estado | Publicada - ago. 2015 |