QUAD ROTORCRAFT CONTROL

Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment.
The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV?s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor?s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks.
Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor?s 3-dimensional position and achieves forward velocity regulation during a road-following task.
In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer.
The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.
Idioma: INGLÉS

RIGUROSO

Riguroso

Determina lo preciso o impreciso que es este libro con respecto a lo que se cuenta en el mismo. 0 significa que es completamente impreciso y 10 que cuenta es rigurosamente verídico

DIVERTIDO

Divertido

Determina lo divertido que te ha resultado el libro: 0-aburrido 10-muy divertido

COMPLEJO

Complejo

Determinamos lo complejo que nos ha resultado la lectura del libro. Desde el nivel más bajo, que indica que es un texto secillo de comprender hasta el valor máximo que indica que es complejo de comprender

SORPRENDE

Sorprende

Indica lo sorprendente que resulta el argumento del libro, desde 0: previsible hasta 10: totalmente desconcertante y sorprendente

Entra en BiblioEteca...

QUAD ROTORCRAFT CONTROL

Sinópsis del libro:

Comentarios de los lectores

Yo Leo

Anillo de blogs

Paga si te gusta

BiblioEtecarios

Yo Escribo

Ayuda

AVISO DE COOKIES