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Visual tracking and control of a quadcopter using a stereo camera system and inertial sensors

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4 Author(s)
Markus Achtelik ; Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290 Munich, Germany ; Tianguang Zhang ; Kolja Kuhnlenz ; Martin Buss

In this paper a complete system is designed and implemented, in which the motion of a quadcopter is stably controlled based on visual feedback and measurements of inertial sensors. We focus on developing a cost effective and easy-to-setup vision system. Active markers were finely designed to improve visibility under various perspectives as well as robustness towards disturbances in the image-based pose estimation. Moreover, position- and heading controllers for the quadcopter were implemented to show the system's capabilities. The performance of the controllers was further improved by the use of inertial sensors of the quadcopter. A closed-loop control system is successfully conducted.

Published in:

2009 International Conference on Mechatronics and Automation

Date of Conference:

9-12 Aug. 2009