Control of a quadrotor helicopter using visual feedback

By Erdinç Altug, J. Ostrowski, Robert E. Mahony. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002

553 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/31a3871b370236b2fd5fb061e0df793498cdf040

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Aerospace Engineering

In Computer Vision and Pattern Recognition

In Control and Systems Engineering

Citations in the corpus

Sliding Mode Control of a Quadrotor Helicopter (2006, methodology): “used the backstepping method to stabilize a quadrotor by keeping the positions and the yaw angle constant and the pitch and the roll angle zero [1], [2].”
A Practical Visual Servo Control for an Unmanned Aerial Vehicle (2008, methodology): “The initial analysis is undertaken for the kinematic response of the system, the normal visual servo framework, and shows that the resulting image Jacobian is well conditioned.”
Sliding mode control of a class of underactuated systems (2008, methodology): “More details of its configuration can be found in Altug et al. (2002). The dynamic model of the quadrotor helicopter can be obtained via a Lagrange approach and a simplified model is given as follows:”
Advanced closed loop visual navigation for micro aerial vehicles (2014, background): “Tracking with Motion Capture Systems / External Cameras: A few approaches exist using standard cameras and either known markers or shapes to track MAVs Klose et al. (2010); Altug et al. (2002); Achtelik et al. (2009c), while most approaches rely on professional motion capture systems.”
Onboard IMU and monocular vision based control for MAVs in unknown in- and outdoor environments (2011, background): “The most simple way is to install a number of external cameras with known location and to have them track the MAV [5], [6], [7].”
Monocular‐SLAM–based navigation for autonomous micro helicopters in GPS‐denied environments (2011, methodology): “These works are described in Artieda et al. (2008) and Ahrens, Levine, Andrews, and How (2009).”
Vision based MAV navigation in unknown and unstructured environments (2010, background): “The most simple way is to install a number of external cameras with known location and to have them track the MAV [8] [9] [10].”
Backstepping Approach for Controlling a Quadrotor Using Lagrange Form Dynamics (2009, methodology): “Reference [22] presented different control architectures such as feedback linearization, backstepping based on visual feedback as the primary sensor.”
A survey of quadrotor Unmanned Aerial Vehicles (2012, methodology): “Ground based external camera systems are used in tracking the quadrotor within specific field of flight [4].”
Towards a navigation system for autonomous indoor flying (2009, background): “Many authors focused on the modeling and on the control of these vehicles [14], [16], [17], [4], with a particular emphasis on small helicopters.”
Control of a Quadrotor Helicopter Using Dual Camera Visual Feedback (2005, methodology): “A quadrotor (Altuğ, Ostrowski, and Mahony 2002; Altu˘g, Ostrowski, and Taylor 2003), as shown in Figure 1, is a four-rotor helicopter.”
Output Feedback Control of a Quadrotor UAV Using Neural Networks (2010, methodology): “Additionally, several vision-based approaches to measuring the UAV position have also been reported [ 19 ].”
Flight PID controller design for a UAV quadrotor (2010, methodology): “A possible combination of controlled outputs can be x, y, z and in order to track the desired positions, move to an arbitrary heading and stabilize the other two angles, which introduces stable zero dynamics into the system (Altug et al., 2002; Pounds et al., 2002 ).”
Modeling and PD Control of a Quadrotor VTOL Vehicle (2007, methodology): “Altuğ et. al. modeled a quadrotor using Euler-Newton method and worked on vision based stabilization and output tracking control using cameras [5, 6, 7, 8].”
Autonomous landing of a VTOL UAV on a moving platform using image-based visual servoing (2012, methodology): “Additionally, the onboard camera has been used within the control loop such as [8] and [9] which use the camera for position control.”
A Fully Autonomous Indoor Quadrotor (2012, background): “Many authors focuse d on the modeling and on the control of these vehicles [8], [11], [25], [29], with a particular emphasis on small or micr o helicopters [10].”