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Real-Time Stabilization of an Eight-Rotor UAV Using Optical Flow | IEEE Journals & Magazine | IEEE Xplore

Real-Time Stabilization of an Eight-Rotor UAV Using Optical Flow


Abstract:

An original configuration of a small aerial vehicle having eight rotors is presented. Four rotors are devoted to the stabilization of the orientation of the helicopter, ...Show More

Abstract:

An original configuration of a small aerial vehicle having eight rotors is presented. Four rotors are devoted to the stabilization of the orientation of the helicopter, and the other four are used to drive the lateral displacements. A precompensation on the roll and pitch angles has been introduced so that the attitude dynamics is practically independent of the translational dynamics. This compensation is directly related to the velocity of the lateral motors. The dynamical model is obtained using the Euler–Lagrange approach. The proposed configuration is particularly useful for image processing since the the camera orientation is held constant. The eight-rotor rotorcraft is simpler to pilot than other rotorcrafts. A control strategy is proposed that uses the optical flow measurements to achieve a hover flight that is robust with respect to perturbations like wind. The new aerial configuration and control strategy have been tested in real-time experiments.
Published in: IEEE Transactions on Robotics ( Volume: 25, Issue: 4, August 2009)
Page(s): 809 - 817
Date of Publication: 24 April 2009

ISSN Information:


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