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Vision-based autonomous hovering for a miniature quad-rotor

Abstract : In this paper, a vision-based scheme for the autonomous hovering of a miniature quad-rotor is developed. Cameras are used to estimate the position and the translational velocity of the vehicle. The dynamic model of the miniature quad-rotor is developed using the Newton-Euler approach. A nonlinear controller based on a separated saturation control strategy for a miniature quad-rotor is presented. To validate the theoretical results, an embedded control system for the miniature quad-rotor has been developed. Thus, the analytic results are supported by experimental tests. Experimental results have validated the proposed control strategy.
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https://hal.archives-ouvertes.fr/hal-00851942
Contributor : Jose-Ernesto Gomez-Balderas <>
Submitted on : Monday, August 19, 2013 - 12:03:47 PM
Last modification on : Thursday, July 9, 2020 - 5:02:04 PM

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Jose-Ernesto Gomez-Balderas, Sergio Salazar, J. A. Guerrero, R. Lozano. Vision-based autonomous hovering for a miniature quad-rotor. Robotica, Cambridge University Press, 2014, 32 (1), pp.43-61. ⟨10.1017/S0263574713000611⟩. ⟨hal-00851942⟩

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