Real-Time Stabilization and Tracking of a Four-Rotor Mini Rotorcraft

Castillo, Pedro; Dzul, A.; Lozano, Rogelio

doi:10.1109/tcst.2004.825052

Cited by 559 publications

(262 citation statements)

References 4 publications

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“…Furthermore, they are capable of changing the moving direction by varying only the motor's speeds. But that simplicity in mechanics leads to higher computational effort to stabilize this highly nonlinear model [53,54].…”

Section: A Related Workmentioning

confidence: 99%

“…Since the four-rotors helicopter is a highly non-linear and unstable platform and requires stability controllers to cope with its fast dynamics, the stabilization problem becomes a primary issue which is addressed in many articles [53][54][55][56][57][58] and mostly overcame for some extend. Because of natural drift of the used stabilization sensors (gyroscopes and inertial sensors) and constant air moving (wind, convention currents) it is difficult to achieve a stable hovering for a long period of time.…”

Section: A Related Workmentioning

confidence: 99%

“…Thus Castillo et. al [53] used Polhemus sensor for position tracking, Mori [65] processes on-board camera data on an external PC and Gurdan [66] performed experiments in a laboratory environment equipped with the indoor motion tracking system VICON that can measure the position vector of specific points on the body of the robot.…”

Section: A Related Workmentioning

confidence: 99%

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Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Surmann

Holz²,

Blumental³

et al. 2008

Int. J. Onl. Eng.

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Abstract-This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle) consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicles (UAV). The paper focuses on three topics of the inspection with the combined UGV and UAV: (A) teleoperated control by means of cell or smart phones with a new concept of automatic configuration of the smart phone based on a RKI-XML description of the vehicles control capabilities, (B) the camera and vision system with the focus to real time feature extraction e.g. for the tracking of the UAV and (C) the architecture and hardware of the UAV.

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Section: A Related Workmentioning

confidence: 99%

Section: A Related Workmentioning

confidence: 99%

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Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Surmann

Holz²,

Blumental³

et al. 2008

Int. J. Onl. Eng.

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show abstract

“…Drone four rotor helicopter 1.0 was measured and analyzed, and it was found that the velocity parameter was calculated as an estrangement fashion when the drone touch against a wall with a slight impact. The IMU is one of the standard equipment of the drone system, since the information of acceleration and gyro sensors is indispensable for real-time stable posture controlling [1][2][3][4][5][6][7]. In addition, the velocity parameter is also estimating at the same time in the IMU, and it was typically used for the "space position" controlling and stabilizing process for drone controlling [1,[8][9][10][11][12][13][14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Experimental Study of Problem of Estrangement of AR. Drone Four Rotor Helicopter Velocity Parameter Calculated by the Internal IMU

Toda¹

2017

Engineering Journal

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“…Quad-rotor systems have already been applied to surveillance tasks [8][9][10][11][12][13][14][15][16][17][18], and aggressive maneuvering control has also been implemented [19]. Excellent maneuvering control has been demonstrated for small quadrotors developed at the University of Pennsylvania.…”

Section: Introductionmentioning

confidence: 99%

Design, Control, and Implementation of Small Quad-Rotor System Under Practical Limitation of Cost Effectiveness

Jeong¹,

Jung²

2013

International Journal of Fuzzy Logic and Intelligent Systems

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This article presents the design, control, and implementation of a small quad-rotor system under the practical limitation of being cost effective for private use, such as in the cases of control education or hobbies involving radio-controlled systems. Several practical problems associated with implementing a small quad-rotor system had to be taken into account to satisfy this cost constraint. First, the size was reduced to attain better maneuverability. Second, the main control hardware was limited to an 8-bit processor such as an AVR to reduce cost. Third, the algorithms related to the control and sensing tasks were optimized to be within the computational capabilities of the available processor within one sampling time. A small quad-rotor system was ultimately implemented after satisfying all of the above practical limitations. Experimental studies were conducted to confirm the control performance and the operational abilities of the system.

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Real-Time Stabilization and Tracking of a Four-Rotor Mini Rotorcraft

Cited by 559 publications

References 4 publications

Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

Experimental Study of Problem of Estrangement of AR. Drone Four Rotor Helicopter Velocity Parameter Calculated by the Internal IMU

Design, Control, and Implementation of Small Quad-Rotor System Under Practical Limitation of Cost Effectiveness

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