Low altitude control for quadcopter using visual feedback

• Autorzy: Urbański Konrad

Identyfikatory

DOI

10.24425/aee.2021.138265

• Języki publikacji: EN

Abstrakty

EN

The paper presents the results of simulations and experiments in the field of control of the low damping and time delay oscillating system. This system includes a quadcopter hovering at a very low altitude, and the altitude is controlled. The time delay is introduced mainly by the remote control device. In order to handle the quadcopter at low altitudes, a proportional-integral controller with a negative proportional coefficient is used. Such an approach can provide good results in the case of an oscillating, low damped system. This method of steering, which uses a typical radio control transmitter, can be used on any commercially available leisure drone. Feedback is provided by a camera and algorithms of computer vision. The presented results were obtained experimentally using free flight–without a harness. Different types of controllers are used to control horizontal shift and altitude.

Słowa kluczowe

EN

control; estimation; ground effect; visual servoing

PL

kontrola; szacowanie; efekt naziemny; serwomechanizm wizualny

• Wydawca: Polish Academy of Sciences, Committee on Electrical Engineering
• Czasopismo: Archives of Electrical Engineering
• Rocznik: 2021
• Tom: Vol. 70, nr 4
• Strony: 845--858
• Opis fizyczny: Bibliogr. 28 poz., rys., wz.

Twórcy

autor

Urbański Konrad

• Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3A str., 60-965 Poznan, Poland

• https://orcid.org/0000-0003-2732-1237

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).