Vision-based servo control of a quadrotor air vehicle

Zehra Ceren; Erdinç Altug

doi:10.1109/CIRA.2009.5423246

Vision-based servo control of a quadrotor air vehicle

Zehra Ceren^*, Erdinç Altug

^*Corresponding author for this work

Department of Mechanical Engineering

Istanbul Technical University

Research output: Contribution to conference › Paper › peer-review

15 Citations (Scopus)

Abstract

Unmanned aerial vehicles (UAVs) are seeing more widespread use in military, scientific, and civilian sectors in recent years. This study presents algorithms for the visual-servo control of an UAV. The helicopter has been stabilized with visual information through the control loop. Unlike previous study that use pose estimation approach which is time consuming and subject to various errors, the visual-servo control is more reliable and fast. The model involves the camera speed and visual sensor blocks. Visual sensor block consists of the camera model and feature extraction blocks. Various simulations are developed on MATLAB, in which the quadrotor aerial vehicle has been visual-servo controlled. In order to show the effectiveness of the algorithms, experiments were performed on a model UAV which suggest successful performance.

Original language	English
Pages	84-89
Number of pages	6
DOIs	https://doi.org/10.1109/CIRA.2009.5423246
Publication status	Published - 2009
Event	2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009 - Daejeon, Korea, Republic of Duration: 15 Dec 2009 → 18 Dec 2009

Conference

Conference	2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009
Country/Territory	Korea, Republic of
City	Daejeon
Period	15/12/09 → 18/12/09

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10.1109/CIRA.2009.5423246

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AB - Unmanned aerial vehicles (UAVs) are seeing more widespread use in military, scientific, and civilian sectors in recent years. This study presents algorithms for the visual-servo control of an UAV. The helicopter has been stabilized with visual information through the control loop. Unlike previous study that use pose estimation approach which is time consuming and subject to various errors, the visual-servo control is more reliable and fast. The model involves the camera speed and visual sensor blocks. Visual sensor block consists of the camera model and feature extraction blocks. Various simulations are developed on MATLAB, in which the quadrotor aerial vehicle has been visual-servo controlled. In order to show the effectiveness of the algorithms, experiments were performed on a model UAV which suggest successful performance.

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Vision-based servo control of a quadrotor air vehicle

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