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Vision-Based Trajectory Tracking Control System for a Quadrotor-Type UAV in Indoor Environment
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 Title & Authors
Vision-Based Trajectory Tracking Control System for a Quadrotor-Type UAV in Indoor Environment
Shi, Hyoseok; Park, Hyun; Kim, Heon-Hui; Park, Kwang-Hyun;
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 Abstract
This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.
 Keywords
UAV;quadrotor;trajectory tracking control;nonlinear system;3-D pose;
 Language
Korean
 Cited by
1.
UAV의 정현파 궤적 알고리즘을 이용한 3차원 실내 맵빌딩,황요섭;최원석;우창준;왕지도;이장명;

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2.
미니드론의 영상기반 자동 비행 제어에 관한 연구,선은혜;트랜후루엇트;김동연;김용태;

한국지능시스템학회논문지, 2015. vol.25. 6, pp.536-541 crossref(new window)
3.
드론을 위한 이식성과 확장성을 지원하는 ARINC 653,김주호;조현철;진현욱;이상일;

한국통신학회논문지, 2016. vol.41. 12, pp.1884-1891 crossref(new window)
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