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Cartesian space control of a quadrotor system based on low cost localization under a vision system

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  • Control Theory and Applications
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Abstract

This article presents the Cartesian position control of a quadrotor system in the indoor environment. Prior to applying the position control to a quadrotor system, the quadrotor is localized to measure the status of the quadrotor system under the vision system. Due to the expensive cost of motion-capturing sensors, a single camera is used to detect the heading angle and the position by using the color of markers on the top of the quadrotor system. Since a single camera cannot detect the distance from the object, compensation methods for the position and height are presented. Localization for the height can be done by using local information on the basis of the regular rectangular shape of the tiles on the floor. Control performances of the hovering, heading angle and trajectory are evaluated by empirical studies.

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Authors and Affiliations

  1. Department of Mechatronics Engineering, Chungnam National University, 99 Daehak-ro Gungdong, Yuseong-gu, Daejeon, 305-764, Korea

    Seung Ho Jeong & Seul Jung

Authors
  1. Seung Ho Jeong
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  2. Seul Jung
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Corresponding author

Correspondence to Seul Jung.

Additional information

Recommended by Associate Editor Wen-Hua Chen under the direction of Editor Hyouk Ryeol Choi. This work was supported in part by the 2012 National Research Foundation of Korea and 2014 the basic research funds through the contract of National Research Foundation of Korea (NRF-2014R1A2A1A11049503).

Seung Ho Jeong received the B.S. degree in 2010 and M.S. degree in 2012 from Department of Mechatronics Engineering, Chungnam National University. He is currently working at LIG Nex1, Korea. His research interests include unmanned aerial vehicles and sensor implementation.

Seul Jung received the B.S. degree in Electrical and Computer Engineering from Wayne State University, Detroit, MI, USA in 1988, and the M.S. and Ph.D. degrees in Electrical and Computer Engineering from the University of California, Davis, in 1991 and 1996, respectively. In 1997, he joined the Department of Mechatronics Engineering, Chungnam National University, where he is presently a professor. His research interests include intelligent Mechatronics systems, intelligent robotic systems, mobile manipulators for home service applications, and robot education. He is a member of IEEE, ACA, ICROS, KROS, KIIS, KIEE, IEMEK, and IEEK.

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Jeong, S.H., Jung, S. Cartesian space control of a quadrotor system based on low cost localization under a vision system. Int. J. Control Autom. Syst. 14, 549–559 (2016). https://doi.org/10.1007/s12555-013-0504-z

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  • DOI: https://doi.org/10.1007/s12555-013-0504-z

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