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Flexible Vision-based control of a 6DOF quadrotor

Flexible Vision-based control of a 6DOF quadrotor. Chayatat Ratanasawanya May 18, 2011. Overview. Recalls Progress & Achievement Results. Recall….

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Flexible Vision-based control of a 6DOF quadrotor

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  1. Flexible Vision-based controlof a 6DOF quadrotor ChayatatRatanasawanya May 18, 2011

  2. Overview • Recalls • Progress & Achievement • Results

  3. Recall… • Develop a flexible human/machine control system to hover an UAV (6-DOF helicopter) carrying a VDO camera beside an object of interest; e.g. a window. • Method: Human control – Joystick Machine control – Visual-servoing

  4. Recall… • Quanser provided height(Y), X&Z position, and yaw controllers • Map image info to positional info • POSIT algorithm • Target object

  5. Successfully • Height is always control by sonar feedback • Flexible human/machine control Roll*, Pitch* Yaw* PID Qball LQR X*, Z* In-flight modifiable IMU Roll, Pitch Magnetometer Optitrack Single Camera

  6. Reference case: Optitrack • VDO

  7. Reference case: Optitrack 0.02 -0.13 0.29 -0.01 15.5⁰ -5.5⁰

  8. Result: Flexible control • VDO

  9. Result: Flexible control 0.7 0.3 2.3 2.0 9⁰ -5⁰

  10. Result: Multiple targets • VDO

  11. Result: Multiple targets 0.7 0.3 2.3 2.0 9⁰ -5⁰

  12. Conclusion • Image information is mapped to positional control inputs via POSIT algorithm • Result is position-based visual servoing • Error is defined in object frame; NOT world frame • Achieved human-machine control flexibility • Able to change desired X, Z, Yaw positions in flight • Able to hover in front of multiple targets (one at a time). Model of each target must be known.

  13. Questions?

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