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Stabilization of an Unmanned Aerial Vehicle Using Real-Time Embedded Motion Estimation

Claybrough, Matthieu and Defaÿ, François Stabilization of an Unmanned Aerial Vehicle Using Real-Time Embedded Motion Estimation. (2013) In: IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), 11 December 2012 - 14 December 2012 (Guangzhou, China).

(Document in English)

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Official URL: https://doi.org/10.1109/ROBIO.2012.6491293


This paper presents an image-based velocity control method for a VTOL UAV. For increased autonomy, a realtime 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.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to IEEE editor.(c)2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. The definitive version will be available at http://ieeexplore.ieee.org
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Ecole Polytechnique (FRANCE)
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Deposited On:12 Feb 2013 09:55

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