NDLI: Indoor UAV Control Using Multi-Camera Visual Feedback

Content Provider	Springer Nature Link
Author	Oh, Hyondong Won, Dae Yeon Huh, Sung Sik Shim, David Hyunchul Tahk, Min Jea Tsourdos, Antonios
Copyright Year	2010
Abstract	This paper presents the control of an indoor unmanned aerial vehicle (UAV) using multi-camera visual feedback. For the autonomous flight of the indoor UAV, instead of using onboard sensor information, visual feedback concept is employed by the development of an indoor flight test-bed. The indoor test-bed consists of four major components: the multi-camera system, ground computer, onboard color marker set, and quad-rotor UAV. Since the onboard markers are attached to the pre-defined location, position and attitude of the UAV can be estimated by marker detection algorithm and triangulation method. Additionally, this study introduces a filter algorithm to obtain the full 6-degree of freedom (DOF) pose estimation including velocities and angular rates. The filter algorithm also enhances the performance of the vision system by making up for the weakness of low cost cameras such as poor resolution and large noise. Moreover, for the pose estimation of multiple vehicles, data association algorithm using the geometric relation between cameras is proposed in this paper. The control system is designed based on the classical proportional-integral-derivative (PID) control, which uses the position, velocity and attitude from the vision system and the angular rate from the rate gyro sensor. This paper concludes with both ground and flight test results illustrating the performance and properties of the proposed indoor flight test-bed and the control system using the multi-camera visual feedback.
Starting Page	57
Ending Page	84
Page Count	28
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	61
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-12-01
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Extended Kalman filter Indoor flight test-bed Multi-camera system Marker detection Quad-rotor UAV Visual feedback Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering Control , Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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