Quadrotor's trajectory tracking control using monocular vision navigation

2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Volumn , Issue , 2015, Pages 844-850

  Mercado, D A ^a   Castillo, P ^a   Lozano, R ^a,b  

^a UNIVERSITÉ DE TECHNOLOGIE DE COMPIÈGNE   (France)

^b Unite Mixte Internationale LAFMIA UMI 3175 CINVESTAV CNRS   (Mexico)

Author keywords

[No Author keywords available]

Indexed keywords

ANTENNAS; CLOSED LOOP SYSTEMS; NAVIGATION; OPEN SOURCE SOFTWARE; OPEN SYSTEMS; TRAJECTORIES; UNMANNED AERIAL VEHICLES (UAV); VISION;

DESIGN CONTROLLERS; DESIRED TRAJECTORIES; INERTIAL SENSING; MONOCULAR CAMERAS; ROTATIONAL DYNAMICS; STATE ESTIMATORS; TIME SCALE SEPARATION; TRAJECTORY TRACKING CONTROL;

AIRCRAFT DETECTION;

EID: 84941037934     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICUAS.2015.7152370     Document Type: Conference Paper

References (13)

1. Klein, G. &Murray, D. "Parallel Tracking and Mapping for Small AR Workspaces" in Proc IEEE Intl. Symposium on Mixed and Augmented Reality (ISMAR), 2007
2. Achtelik, M., Achtelik, M., Weiss, S. &Siegwart, R. "Onboard IMU and Monocular Vision Based Control for MAVs in Unknown In-and Outdoor Environments" in Proc of the IEEE International Conference on Robotics and Automation (ICRA), 2011
3. Weiss, S., Achtelik, M., Chli, M. &Siegwart, R. "Versatile Distributed Pose Estimation and Sensor Self-Calibration for an Autonomous MAV" in Proc of the IEEE International Conference on Robotics and Automation (ICRA), 2012
4. Weiss, S., Achtelik, M., Lynen, S., Chli, M. &Siegwart, R. "Real-time Onboard Visual-Inertial State Estimation and Self-Calibration of MAVs in Unknown Environments" in Proc of the IEEE International Conference on Robotics and Automation (ICRA), 2012
5. Weiss, S., Scaramuzza, D. &Siegwart, R. "Monocular-SLAM-Based navigation for autonomous micro helicopters in GPS-denied environments" in Journal of Field Robotics, Vol. 28, No. 6, 854-874, 2011
6. Engel, J., Sturm, J. &Cremers, D. "Camera-Based Navigation of a Low-cost Quadrocopter" in Proc IEEE Intl. Conf. on Intelligent Robot Systems (IROS), 2002
7. Engel, J., Sturm, J. &Cremers, D. "Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera" in Robotics and Autonomous Systems, vol. 62, issue 11, pp. 1646-1656, 2014
8. C. Forster, M. Pizzoli, D. Scaramuzza, SVO: Fast semi-direct monocular visual odometry, ICRA 2014
9. Alvarez, H., Paz, L.M., Sturm, J. &Cremers, D. "Collision Avoidance for Quadrotors with a Monocular Camera" in Proc of The 12th International Symposium on Experimental Robotics (ISER), 2014
10. Castillo, P., Lozano, R. &Dzul, A. Modelling and control of mini-flying machines. Springer-Verlag, Londres, 2005
11. Bertrand, S., Gunard, N., Hamel, T., Piet-Lahanier, H. &Eck, L. A hierachical controller for miniature VTOL UAVs: Desing and stability analysis using singular perturbation theory. In Control Engineering Practice, 19, 1099-1108. 2011
12. D. A. Mercado-Ravell, R. Castro-Linares, R. Lozano-Leal. "Control de Quadri-rotores en un Esquema de Formación Líder-Seguidor". In XV Congreso Latinoamericano de Control Automático, Lima, Perú, 2012
13. D. A. Mercado-Ravell, R. Castro-Linares, R. Lozano-Leal. "Quadrotors Flight Formation Control Using a Leader-Follower Approach". In European Control Conference, Zurich, Switzerland, 2013