Hovering Control of a Nano Quadrotor Unmanned Aerial Vehicle Using Optical Flow

摘要：

　　In this paper,a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle(UAV).The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research.Due to the limited size and payload ability,a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV.Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Nano Quadrotor UAV Optical Flow Autonomous Control

作者: XIAN Bin LIU Yang ZHANG Xu CAO Meihui Wang Fu

作者单位: The Institute of Robotics and Autonomous System,the Tianjin Key Laboratory of Process Measurement and Control,School of Electrical Engineering and Automation,Tianjin University,Tianjin 300072

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8259-8264

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）