Quad rotorcraft control vision-based hovering and navigation
<p><i>Quad-Rotor Control </i>develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of th...
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| Sprache: | English |
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London [u.a.]
Springer
2013
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| Schriftenreihe: | Advances in industrial control
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| Online-Zugang: | DE-634 DE-Aug4 DE-573 DE-92 DE-898 DE-859 DE-863 DE-706 Volltext Inhaltsverzeichnis Abstract |
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| 520 | |a <p><i>Quad-Rotor Control </i>develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment.</p><p>The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use of low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. | ||
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Datensatz im Suchindex
| _version_ | 1819682906435485696 |
|---|---|
| adam_text | QUAD ROTORCRAFT CONTROL
/ GARCIA CARRILLO, LUIS RODOLFO
: 2013
TABLE OF CONTENTS / INHALTSVERZEICHNIS
MODELING THE QUAD-ROTOR MINI-ROTORCRAFT
THE QUAD-ROTOR EXPERIMENTAL PLATFORM
HOVERING FLIGHT IMPROVEMENT
IMAGING SENSORS FOR STATE ESTIMATION
VISION-BASED CONTROL OF A QUAD-ROTOR UAV
COMBINING SENSING SYSTEMS FOR THE QUAD-ROTOR
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
QUAD ROTORCRAFT CONTROL
/ GARCIA CARRILLO, LUIS RODOLFO
: 2013
ABSTRACT / INHALTSTEXT
QUAD-ROTOR CONTROL DEVELOPS ORIGINAL CONTROL METHODS FOR THE NAVIGATION
AND HOVERING FLIGHT OF AN AUTONOMOUS MINI-QUAD-ROTOR ROBOTIC HELICOPTER.
THESE METHODS USE AN IMAGING SYSTEM AND A COMBINATION OF INERTIAL AND
ALTITUDE SENSORS TO LOCALIZE AND GUIDE THE MOVEMENT OF THE UNMANNED
AERIAL VEHICLE RELATIVE TO ITS IMMEDIATE ENVIRONMENT. THE HISTORY,
CLASSIFICATION AND APPLICATIONS OF UAVS ARE INTRODUCED, FOLLOWED BY A
DESCRIPTION OF MODELLING TECHNIQUES FOR QUAD-ROTORS AND THE EXPERIMENTAL
PLATFORM ITSELF. A CONTROL STRATEGY FOR THE IMPROVEMENT OF ATTITUDE
STABILIZATION IN QUAD-ROTORS IS THEN PROPOSED AND TESTED IN REAL-TIME
EXPERIMENTS. THE STRATEGY, BASED ON THE USE OF LOW-COST COMPONENTS AND
WITH EXPERIMENTALLY-ESTABLISHED ROBUSTNESS, AVOIDS DRIFT IN THE UAV’S
ANGULAR POSITION BY THE ADDITION OF AN INTERNAL CONTROL LOOP TO EACH
ELECTRONIC SPEED CONTROLLER ENSURING THAT, DURING HOVERING FLIGHT, ALL
FOUR MOTORS TURN AT ALMOST THE SAME SPEED.THE QUAD-ROTOR’S EULER
ANGLES BEING VERY CLOSE TO THE ORIGIN, OTHER SENSORS LIKE GPS OR
IMAGE-SENSING EQUIPMENT CAN BE INCORPORATED TO PERFORM AUTONOMOUS
POSITIONING OR TRAJECTORY-TRACKING TASKS. TWO VISION-BASED STRATEGIES,
EACH DESIGNED TO DEAL WITH A SPECIFIC KIND OF MISSION, ARE INTRODUCED
AND SEPARATELY TESTED. THE FIRST STABILIZES THE QUAD-ROTOR OVER A
LANDING PAD ON THE GROUND; IT EXTRACTS THE 3-DIMENSIONAL POSITION USING
HOMOGRAPHY ESTIMATION AND DERIVES TRANSLATIONAL VELOCITY BY OPTICAL FLOW
CALCULATION. THE SECOND COMBINES COLOUR-EXTRACTION AND LINE-DETECTION
ALGORITHMS TO CONTROL THE QUAD-ROTOR’S 3-DIMENSIONAL POSITION AND
ACHIEVES FORWARD VELOCITY REGULATION DURING A ROAD-FOLLOWING TASK. IN
ORDER TO ESTIMATE THE TRANSLATIONAL-DYNAMICAL CHARACTERISTICS OF THE
QUAD-ROTOR (RELATIVE POSITION AND TRANSLATIONAL VELOCITY) AS THEY EVOLVE
WITHIN A BUILDING OR OTHER UNSTRUCTURED, GPS-DEPRIVED ENVIRONMENT,
IMAGING, INERTIAL AND ALTITUDE SENSORS ARE COMBINED IN A STATE
OBSERVER.THE TEXT GIVES THE READER A CURRENT VIEW OF THE PROBLEMS
ENCOUNTERED IN UAV CONTROL, SPECIFICALLY THOSE RELATING TO QUAD-ROTOR
FLYING MACHINES AND IT WILL INTEREST RESEARCHERS AND GRADUATE STUDENTS
WORKING IN THAT FIELD. THE VISION-BASED CONTROL STRATEGIES PRESENTED
HELP THE READER TO A BETTER UNDERSTANDING OF HOW AN IMAGING SYSTEM CAN
BE USED TO OBTAIN THE INFORMATION REQUIRED FOR PERFORMANCE OF THE
HOVERING AND NAVIGATION TASKS UBIQUITOUS IN ROTORED UAV OPERATION
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
| any_adam_object | 1 |
| building | Verbundindex |
| bvnumber | BV040679506 |
| collection | ZDB-2-ENG |
| ctrlnum | (OCoLC)820469097 (DE-599)BVBBV040679506 |
| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8 |
| dewey-search | 629.8 |
| dewey-sort | 3629.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-1-4471-4399-4 |
| format | Electronic eBook |
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| id | DE-604.BV040679506 |
| illustrated | Not Illustrated |
| indexdate | 2024-12-24T03:00:59Z |
| institution | BVB |
| isbn | 9781447143994 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-025505928 |
| oclc_num | 820469097 |
| open_access_boolean | |
| owner | DE-898 DE-BY-UBR DE-634 DE-573 DE-92 DE-Aug4 DE-859 DE-706 DE-863 DE-BY-FWS |
| owner_facet | DE-898 DE-BY-UBR DE-634 DE-573 DE-92 DE-Aug4 DE-859 DE-706 DE-863 DE-BY-FWS |
| physical | 1 Online-Ressource (XIX, 179 p. 117 illus., 74 illus. in color) |
| psigel | ZDB-2-ENG |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | Springer |
| record_format | marc |
| series2 | Advances in industrial control |
| spellingShingle | Quad rotorcraft control vision-based hovering and navigation Ingenieurwissenschaften Engineering Computer vision Astronautics Maschinelles Sehen (DE-588)4129594-8 gnd Quadrocopter (DE-588)1051121949 gnd Drohne Flugkörper (DE-588)4332556-7 gnd |
| subject_GND | (DE-588)4129594-8 (DE-588)1051121949 (DE-588)4332556-7 |
| title | Quad rotorcraft control vision-based hovering and navigation |
| title_auth | Quad rotorcraft control vision-based hovering and navigation |
| title_exact_search | Quad rotorcraft control vision-based hovering and navigation |
| title_full | Quad rotorcraft control vision-based hovering and navigation Luis Rodolfo García Carrillo ... |
| title_fullStr | Quad rotorcraft control vision-based hovering and navigation Luis Rodolfo García Carrillo ... |
| title_full_unstemmed | Quad rotorcraft control vision-based hovering and navigation Luis Rodolfo García Carrillo ... |
| title_short | Quad rotorcraft control |
| title_sort | quad rotorcraft control vision based hovering and navigation |
| title_sub | vision-based hovering and navigation |
| topic | Ingenieurwissenschaften Engineering Computer vision Astronautics Maschinelles Sehen (DE-588)4129594-8 gnd Quadrocopter (DE-588)1051121949 gnd Drohne Flugkörper (DE-588)4332556-7 gnd |
| topic_facet | Ingenieurwissenschaften Engineering Computer vision Astronautics Maschinelles Sehen Quadrocopter Drohne Flugkörper |
| url | https://doi.org/10.1007/978-1-4471-4399-4 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025505928&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025505928&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT garciacarrilloluisrodolfo quadrotorcraftcontrolvisionbasedhoveringandnavigation |