Vision Based Tracking for a Quadrotor Using Vanishing Points [chapter]

Jose-Ernesto Gomez-Balderas, Pedro Castillo, Jose Alfredo Guerrero, Rogelio Lozano
2011 Recent Developments in Unmanned Aircraft Systems  
In this paper, a vision based line tracking control strategy for minirotorcraft is presented. In order to estimate the 3-D position of the minirotorcraft over the trajectory a vanishing points technique is used. A dynamic model is derived employing the Newton-Euler approach and a nonlinearc o ntroller to stabilize, in closed-loop system, this mathematical model is proposed. To validate the theoretical results, a real-time embedded control system has been developed. The performance of the vision
more » ... mance of the vision and control algorithms has been tested when the helicopter has tracked a line painted in a wall. The experimental results have shown the good behavior of the control laws.
doi:10.1007/978-94-007-3033-5_25 fatcat:or6ha2wpdbc3vaux5vhbk67gku