Regulación con visión experimental de un cuadrotor (Experimental vision regulation of a quadrotor)

Jose de Jesus Rubio (jrubioa@ipn.mx)1, Zizilia Zamudio (zizzable@hotmail.com)1, Jesus Alberto Meda Campaña (jesus.meda@gmail.com)2, Marco Antonio Moreno Armendariz (mam.armendariz@gmail.com)3


1Seccion de Estudios de Posgrado e Investigacion, ESIME Azcapotzalco, Instituto Politecnico Nacional
2Laboratorio de Vibraciones y Rotodinamica, ESIME Zacatenco, Instituto Politecnico Nacional
3Centro de Investigacion en Computacion, Instituto Politecnico Nacional

This paper appears in: Revista IEEE América Latina

Publication Date: Aug. 2015
Volume: 13,   Issue: 8 
ISSN: 1548-0992


Abstract:
In this paper, the vision regulation of a quadrotor is introduced. The objective of the regulation is to maintain the vehicle in a desired and constant position. The proposed strategy consists in three steps: 1) a camera is employed as a retro to obtain the position, 2) the optical flow of the Lucas and Kanade method is applied to obtain the linear velocity, 3) the position and velocity are employed by a proportional integral derivative control (PID) with nested saturation for the quadrotor regulation. In addition, the comparison between the monocular and stereo visions is showed.

Index Terms:
Stereo vision, monocular vision, proportional integral derivative control, analytic modeling, quadrotor   


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