Position control of a quad-rotor UAV using vision

Luis-Rodolfo Garcia-Carrillo (1) , Eduardo Rondon (1) , Anand Sanchez (1) , Alejandro Dzul (2) , Rogelio Lozano (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 ITL - Instituto Tecnologico de la Laguna

We present a vision system that deals with the problem of local estimation of the position and velocity of a UAV quad-rotor indoor. Our approach is based in the estimation of homographies from a visual landmark. Stabilizing the UAV locally, real time experiments demonstrate the effectiveness of our method.

Domaines: Automatique

Luis-Rodolfo Garcia-Carrillo, Eduardo Rondon, Anand Sanchez, Alejandro Dzul, Rogelio Lozano. Position control of a quad-rotor UAV using vision. 18th IFAC Symposium on Automatic Control in Aerospace, Sep 2010, Nara, Japan. ⟨hal-00486244⟩