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Vision-Guided Control Algorithms for Micro Aerial Vehicles

Wijaszka M.

Prace Naukowe Instytutu Technicznego Wojsk Lotniczych

2013

nr 33

271–288

This study presents an image analysis method used in the vision guided control system for Micro Air Vehicles (MAVs). The paper describes a hypothetical model of a MAV located in the GPS-denied unknown environment, somewhere indoors. The model keeps moving autonomously following ‘the track’ marked with corners and other feature points recorded with a monocular camera pointed at the far end of a corridor and slightly tilted down at the angle β (20° - 30°). The flight stability and control are provided with an on-board autopilot that maintains zero pitch and roll angles and constant altitude. The image analysis has been based on the real-time computer vision library - OpenCV (Open Source Computer Vision library - http://opencv.willowgarage.com).