Vision based stabilization of a quadrotor using nested saturation control approach

The problem of estimating position and orientation (pose) of an object in real time constitutes an important issue for vision-based control of robots. In this paper, we present a vision based controller design and its implementation on a quadrotor. The dynamic model is obtained using the well known...

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Bibliographic Details
Published in2011 15th International Conference on System Theory, Control, and Computing pp. 1 - 6
Main Authors Zamudio, Z., Lozano, R., Torres, J., Rullan-Lara, J. L.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2011
Subjects
Cameras
control
Quadrotor
real-time systems
Three dimensional displays
vision systems
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ISBN9781457711732
1457711737

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Summary:The problem of estimating position and orientation (pose) of an object in real time constitutes an important issue for vision-based control of robots. In this paper, we present a vision based controller design and its implementation on a quadrotor. The dynamic model is obtained using the well known Euler-Lagrange approach. Experiment results show good performance of the proposed controller using "real-time" optical flow and image processing.
ISBN:9781457711732
1457711737