Advanced SearchSearch Tips
Vision-Based Trajectory Tracking Control System for a Quadrotor-Type UAV in Indoor Environment
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 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;
  PDF(new window)
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.
UAV;quadrotor;trajectory tracking control;nonlinear system;3-D pose;
 Cited by
UAV의 정현파 궤적 알고리즘을 이용한 3차원 실내 맵빌딩,황요섭;최원석;우창준;왕지도;이장명;

제어로봇시스템학회논문지, 2015. vol.21. 5, pp.465-470 crossref(new window)
미니드론의 영상기반 자동 비행 제어에 관한 연구,선은혜;트랜후루엇트;김동연;김용태;

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

한국통신학회논문지, 2016. vol.41. 12, pp.1884-1891 crossref(new window)
G. M. Hoffmann, H. Huang, S. L. Waslander, and C. J. Tomlin, "Quadrotor helicopter flight dynamics and control: theory and experiment," in Proc. AIAA Guidance, Navigation and Control Conf. Exhibit, pp. 1-20, Hilton Head, South Carolina, Aug. 2007.

N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, "The GRASP multiple micro-UAV testbed," IEEE Mag. Robotics and Automation, vol. 17, no. 3, pp. 56-65, Sept. 2010. crossref(new window)

D. Cabecinhas, R. Naldi, L. Marconi, C. Silvestre, and R. Cunha, "Robust take-off for a quadrotor vehicle," IEEE Trans. Robotics, vol. 28, no. 3, pp. 734-742, Jun. 2012. crossref(new window)

B. Herisse, T. Hamel, R. Mahony, and F.-X. Russotto, "Landing a VTOL unmanned aerial vehicle on a moving platform using optical flow," IEEE Trans. Robotics, vol. 28, no. 1, pp. 77-89, Feb. 2012. crossref(new window)

R. Zhang, Q. Quan, and K. Y. Cai, "Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances," IET Control Theory & Appl., vol. 5, no. 9, pp. 1140-1146, Jun. 2011. crossref(new window)

Z. Zuo, "Trajectory tracking control design with command-filtered compensation for a quadrotor," IET Control Theory & Appl., vol. 4, no. 11, pp. 2343-2355, Nov. 2010. crossref(new window)

N. Guenard, T. Hamel, and R. Mahony, "A practical visual servo control for an unmanned aerial vehicle," IEEE Trans. Robotics, vol. 24, no. 2, pp. 331-340, Apr. 2008. crossref(new window)

O. Bourquardez, R. Mahony, N. Guenard, F. Chaumette, T. Hamel, and L. Eck, "Imagebased visual servo control of the translation kinematics of a quadrotor aerial vehicle," IEEE Trans. Robotics, vol. 25, no. 3, pp. 743-749, Jun. 2009. crossref(new window)

S. Grzonka, G. Grisetti, and W. Burgard, "A fully autonomous indoor quadrotor," IEEE Trans. Robotics, vol. 28, no. 1, pp. 90-100, Feb. 2012. crossref(new window)

Firefly, Retrieved Jan., 6, 2013, from http://sen

Vicon MX System, Retrieved Jan., 6, 2013, from

G. Ducard and R. D'Andrea, "Autonomous quadrotor flight using a vision system and accommodating frames misalignment," in Proc. IEEE Int'l symp. Industrial embedded systems (SIES '09), pp. 261-264, Switzerland, Jul. 2009.

J. H. Hwang, A study of integrated controller for the quadrotor flying robot, Master thesis, Sejong University, 2009.

F. N. Fritsch and R. E. Carlson, "Monotone piecewise cubic interpolation," SIAM J. Numer. Anal., vol. 17, no. 2, pp. 238-246, 1980. crossref(new window)

H.-H. Kim, K.-W. Park, and Y.-S. Ha, "3D pose estimation of a circular feature with a coplanar point," J. IEEK-System and Control, vol. 48, no. 5, pp. 382-393. 2012.

Ascending Technologies, Retrieved Jan., 6, 2013, from

Hyvision system, Retrieved Jan., 6, 2013, from

G. F. Franklin, M. L. Workman, and D. Powell, Feedback control of dynamic systems 6th Ed., Pearson, 2010.