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Stabilization of an unmanned aerial vehicle using real-time embedded motion estimation

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2 Author(s)
Claybrough, M. ; Ecole Polytech., Palaiseau, France ; Defay, F.

This paper presents an image-based velocity control method for a VTOL UAV. For increased autonomy, a real-time embedded global motion estimation process using efficient feature tracking was developed. The VTOL vehicle is assumed to be equipped with a minimum sensor suite - i.e. a camera, altitude sensor and IMU - and to hover over a featured flat plane. This paper first presents a fast feature-based global motion estimation method, and then proposes a control strategy based on this method. Finally, experimental results using a quadrotor demonstrate the performance of the proposed control strategy and feature-based motion estimation.

Published in:

Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on

Date of Conference:

11-14 Dec. 2012

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