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Vision-based autonomous hovering for a miniature quad-rotor

Published online by Cambridge University Press:  19 July 2013

J. E. Gomez-Balderas ,
S. Salazar ,
J. A. Guerrero  and
R. Lozano
J. E. Gomez-Balderas
Affiliation:
GIPSA-Lab, UMR 5216 CNRS, Grenoble, France
S. Salazar*
Affiliation:
UMI LAFMIA 3175 CINVESTAV, Mexico
J. A. Guerrero
Affiliation:
HEUDIASYC UMR 7253 CNRS-UTC, France
R. Lozano
Affiliation:
UMI LAFMIA 3175 CINVESTAV, Mexico HEUDIASYC UMR 7253 CNRS-UTC, France
*
*Corresponding author. E-mail: sergio.salazar.cruz@gmail.com
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Summary

In this paper, a vision-based scheme for the autonomous hovering of a miniature quad-rotor is developed. Cameras are used to estimate the position and the translational velocity of the vehicle. The dynamic model of the miniature quad-rotor is developed using the Newton–Euler approach. A nonlinear controller based on a separated saturation control strategy for a miniature quad-rotor is presented. To validate the theoretical results, an embedded control system for the miniature quad-rotor has been developed. Thus, the analytic results are supported by experimental tests. Experimental results have validated the proposed control strategy.

Keywords

Vision-based position estimationOptical flowQuad-rotor UAVNonlinear controlEmbedded control system
Type
Articles
Information
Robotica , Volume 32 , Issue 1 , January 2014 , pp. 43 - 61
Copyright
Copyright © Cambridge University Press 2013 

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