抄録
Digital image processing serves as a multifunctional tool for measurement and positioning tasks in robotics. The present paper deals with the development of a camera-based positioning system for quadrocopters in order to automate their landing process. In this regard, a quadrocopter equipped with classical radio-control components is upgraded with applicable hardware, such as a Raspberry Pi 3B+ and a wide-angle camera. Hereupon, black-box system identifications are executed to attain the relevant plants of the attitude control performed by the flight controller. Thereby, a PID-controller for the altitude control including a back-calculation anti-windup as well as two PD-controllers for the horizontal plane are designed using a pole placement method. Effective tests of the controller gains are conducted by simulating the closed loops respectively. Since the camera functions as a position sensor, an image processing algorithm is then implemented to detect a distinctive landing symbol in real time while converting its image position into compliant feedback errors (pixel-to-physical distance-conversion). Ultimately, the developed system allows for the robust detection and successful landing on the landing spot by a position control operating at 20 hertz.
本文言語 | English |
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論文番号 | 9245521 |
ページ(範囲) | 202111-202121 |
ページ数 | 11 |
ジャーナル | IEEE Access |
巻 | 8 |
DOI | |
出版ステータス | Published - 2020 |
ASJC Scopus subject areas
- コンピュータ サイエンス(全般)
- 材料科学(全般)
- 工学(全般)