Visual Tracking and Control of a Quadcopter Using a Stereo Camera System and Inertial Sensors

被引:66
作者
Achtelik, Markus [1 ]
Zhang, Tianguang [1 ]
Kuehnlenz, Kolja [1 ]
Buss, Martin [1 ]
机构
[1] Tech Univ Munich, Inst Automat Control Engn LSR, D-80290 Munich, Germany
来源
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词
Vision system; motion estimation; multiple sensing system; UAV/MAV control; POSE ESTIMATION;
D O I
10.1109/ICMA.2009.5246421
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper a complete system is designed and implemented, in which the motion of a quadcopter is stably controlled based on visual feedback and measurements of inertial sensors. We focus on developing a cost effective and easy-to-setup vision system. Active markers were finely designed to improve visibility under various perspectives as well as robustness towards disturbances in the image-based pose estimation. Moreover, position- and heading controllers for the quadcopter were implemented to show the system's capabilities. The performance of the controllers was further improved by the use of inertial sensors of the quadcopter. A closed-loop control system is successfully conducted.
引用
收藏
页码:2863 / 2869
页数:7
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