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Vision-based Position Control of a Two-rotor VTOL miniUAV

Authors
  • Rondon, E.1
  • Salazar, S.2
  • Escareno, J.2
  • Lozano, R.1
  • 1 Université de Technologie de Compiègne, Heudiasyc, Compiègne, UMR CNRS 6599, France , Compiègne (France)
  • 2 Laboratoire Franco Mexicain d’Informatique et Automatique, Mexico, DF, UMI-CNRS 3175, Mexico , Mexico (Mexico)
Type
Published Article
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer-Verlag
Publication Date
Sep 16, 2009
Volume
57
Issue
1-4
Identifiers
DOI: 10.1007/s10846-009-9370-6
Source
Springer Nature
Keywords
License
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Abstract

In this paper we address the stabilization of the attitude and position of a birotor miniUAV to perform autonomous flight. For this purpose, we have implemented a Kalman-based sensor fusion between inertial sensors (gyros-accelerometers) and the optical flow (OF) provided by the vehicle. This fusion algorithm extracts the translational-OF (TOF) component and discriminates the rotational OF (ROF). The aircraft’s position is obtained through an object detection algorithm (centroid tracking). Newton-Euler motion equations were used to deduce the mathematical model of the vehicle. In terms of control we have employed a saturated-based control to stabilize the state of the aircraft around the origin. Experimental autonomous flight was successfully achieved, which validates the sensing strategy as well as the embedded control law.

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