Vision Based Tracking for a Quadrotor Using Vanishing Points

Jose-Ernesto Gomez-Balderas (1) , Pedro Castillo (1) , J. A. Guerrero (1) , Rogelio Lozano (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

In this paper, a vision based line tracking control strategy for mini-rotorcraft is presented. In order to estimate the 3-D position of the mini- rotorcraft over the trajectory a vanishing points technique is used. A dynamic model is derived employing the Newton-Euler approach and a nonlinear controller to stabilize, in closed-loop system, this mathematical model is proposed. To validate the theoretical results, a real-time em- bedded control system has been developed. The performance 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.

Mots clés: Tracking; Quadrotor; Vision

Domaines: Robotique [cs.RO]

Jose-Ernesto Gomez-Balderas, Pedro Castillo, J. A. Guerrero, Rogelio Lozano. Vision Based Tracking for a Quadrotor Using Vanishing Points. International Conference of Unmanned Aircraft Systems (ICUAS 2011), May 2011, Denver, United States. ⟨hal-00999665⟩