Quad Rotorcraft Control

Vision-Based Hovering and Navigation

  • Luis Rodolfo García Carrillo
  • Alejandro Enrique Dzul López
  • Rogelio Lozano
  • Claude Pégard

Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages I-XIX
  2. Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
    Pages 1-22
  3. Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
    Pages 23-34
  4. Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
    Pages 35-57
  5. Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
    Pages 59-70
  6. Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
    Pages 71-102
  7. Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
    Pages 103-137
  8. Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
    Pages 139-167
  9. Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard
    Pages 169-172
  10. Back Matter
    Pages 173-179

About this book

Introduction

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.

Keywords

Nonlinear Control Quad-rotor Control Quad-rotor Modelling State Estimation Algorithms UAV Unmanned Aerial Vehicle Vision-based Control

Authors and affiliations

  • Luis Rodolfo García Carrillo
    • 1
  • Alejandro Enrique Dzul López
    • 2
  • Rogelio Lozano
    • 3
  • Claude Pégard
    • 4
  1. 1.HEUDIASYC UMR 6599, Centre de Recherches de RoyalieuUniversité de Technologie de CompiègneCompiègne cedexFrance
  2. 2.División de Estudios de PosgradoInstituto Tecnológico de la LagunaTorreónMexico
  3. 3.UMR-CNRS 6599, Centre de Recherche de RoyalieuUniversité de Technologie de CompiègneCompiègneFrance
  4. 4.Laboratoire MIS EA 4290Université de Picardie Jules VerneAmiensFrance

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4471-4399-4
  • Copyright Information Springer-Verlag London 2013
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-1-4471-4398-7
  • Online ISBN 978-1-4471-4399-4
  • Series Print ISSN 1430-9491
  • Series Online ISSN 2193-1577
  • About this book
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