基于人工视觉的四旋翼飞行器室内定位与控制

Localization and Control of Quadrotor Aircraft Based on Indoor Vision
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    摘要:

    为提高室内四旋翼的定位精度,提出一种基于人工视觉的四旋翼室内定位方法。在地面铺设与地面颜色 有差别的参考线,利用机载下视觉传感器采集图像,并进行参考线特征提取,确定参考线与机体的相对位置并与微 惯性测量单元数据融合,给出四旋翼飞行器的位置。使用AR.Drone 四旋翼飞行器对该方法进行了验证。结果表明: 该方案能在室内实现精度较高的定位,可以满足四旋翼航迹跟踪的精度要求。

    Abstract:

    To improve the locating accuracy of quadrotor indoor, a locating algorithm based on vision is presented. Reference lines should be set on the ground and its color is different with ground, and quadrotor vision sensor is used to acquire images. Extract the reference line features, locates the relative positions between quadrotor and reference lines and compumds it with micro-inertia measuring unit data for actual position of the quadrotor. AR.Drone is used for validating this method and the result shows that this algorithm can realize high accuracy location meet accuracy requirements of trajectory tracking of quadrotor

    参考文献
    [1] Erdinc Altug, James P.Ostrowski, Camillo J.Taylor. Quadrotor Control Using Dual Camera Visual Feedback[C]. Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September, 2003: 14-19.
    [2] Brett Bethke. Persistent Vision-Based Search and Track Using Multiple UAVs[D]. USA: Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, 2005: 22.
    [3] Stephane Piskorski. Drone Developer Guide[M/CD]. October 5, 2010. http://ardrone.parrot.com.
    [4] Willow Garage. OpenCV Reference Manual[M/CD]. March 18, 2010. http://opencv.willowgarage.com/ wiki/.
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陈小龙,唐强,车军,刘林.基于人工视觉的四旋翼飞行器室内定位与控制[J].,2012,31(05):61-64.

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  • 收稿日期:2013-03-07
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