Image-based tracking control of a blimp

被引：22

作者：

Fukao, T ^{[1
]}

Fujitani, K ^{[1
]}

Kanade, T ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/CDC.2003.1272498

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Image-based tracking control of an aerial blimp is proposed for surveillance systems. The controller is designed by backstepping techniques for underactuated systems. In our framework, only one camera on a blimp is used to control the blimp without the other sensors and to generate a reference trajectory from image information. After a commander sets a target, the blimp flies around it automatically. This image-based approach reduces to utilize the values estimated by a structure-from-motion algorithm. In this research an aerial blimp is used for indoor experiments, and image-based control are compared with position-based control.

引用

页码：5414 / 5419

页数：6

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