A Simple Autonomous Hovering and Operating Control of Multicopter Using Only Web Camera
| العنوان: | A Simple Autonomous Hovering and Operating Control of Multicopter Using Only Web Camera |
|---|---|
| المؤلفون: | Sato, Kazuya, Kasahara, Toru, Kuroda, Junji, Izu, Tomoyuki |
| بيانات النشر: | Zenodo, 2015. |
| سنة النشر: | 2015 |
| مصطلحات موضوعية: | multicopter, Autonomous hovering control, Web camera |
| الوصف: | In this paper, an autonomous hovering control method of multicopter using only Web camera is proposed. Recently, various control method of an autonomous flight for multicopter are proposed. But, in the previous proposed methods, a motion capture system (i. e., OptiTrack) and laser range finder are often used to measure the position and posture of multicopter. To achieve an autonomous flight control of multicopter with simple equipments, we propose an autonomous flight control method using AR marker and Web camera. AR marker can measure the position of multicopter with Cartesian coordinate in three dimensional, then its position connects with aileron, elevator, and accelerator throttle operation. A simple PID control method is applied to the each operation and adjust the controller gains. Experimental results are given to show the effectiveness of our proposed method. Moreover, another simple operation method for autonomous flight control multicopter is also proposed. {"references":["A. Mokhtari, A. Benallegue and A. Belaidi: Polynom al Linear Quadratic\nGaussian ans Sliding Mode Ob- server for a Quadrotor Unmanned Aerial\nVehicle, Journal of Robotics and Mechatronics, vol. 17, no. 4, pp.\n483–495, 2005.","S. Bouabdallah and R. Siegwart: Backstepping and Sliding-mode\nTechniques Applied to an Indoor Micro Quadrotor, Procs of the 2005\nIEEE International Conference, pp. 2259–2264, 2005.","T. Madani and A. Benallegue: Adaptive Control via Backstepping\nTechnique and Neural Networks of a Quadrotor Helicopter, Procs of the\n17th IFAC World Congress, Seoul, pp. 6513–6518, 2008.","A. Abdessameud and A. Tayebi: Global trajectory tracking control of\nVTOL–UAVs without linear velocity measurements, Vol. 46, No. 6, pp.\n1053–1059, 2010.","M. Yokoyama and K. Fujimoto: Velocity Tracking Control of a\nFour–Rotor Mini Helicopter, Motion and Vibration Control, pp. 225–344,\n2009.","K. Fujimoto, M. Yokoyama, and Y. Tanabe: Position and Yaw\nAngle Control for a Four Rotor Mini Helicopter Based on a\nGeometric Approach, TRANSACTIONS OF THE JAPAN SOCIETY OF\nMECHANICAL ENGINEERS Series C, pp. 126–137, 2012.","A. Astolfi: Discontinuous control of nonholonomic systems, System and\nControl Letters, Vol. 27, pp. 37–45, 1996.","K. Sato, N. Yamaguchi, and J. Kuroda: A Simple Structure Formation\nControl of Multi Robots using Augmented Reality Technology, Procs.\n2014 IEEE Multi Conference on Systems and Control, WeB07.4, 2014."]} |
| اللغة: | English |
| DOI: | 10.5281/zenodo.1107780 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::32aab7039039a8b3f1675ae74b97e4b3 |
| Rights: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....32aab7039039a8b3f1675ae74b97e4b3 |
| قاعدة البيانات: | OpenAIRE |
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