Vision-Based Control of a Quad-Rotor UAV

  • Luis Rodolfo García Carrillo
  • Alejandro Enrique Dzul López
  • Rogelio Lozano
  • Claude Pégard
Part of the Advances in Industrial Control book series (AIC)


This chapter introduces two different vision-based control strategies for stabilizing a quad-rotor during flight. The first strategy is based on a homography estimation technique and an optical flow computation. Using this approach, a comparison of three control methods is addressed, with the purpose of validating the most effective approach for stabilizing the vehicle when using visual feedback. In the second strategy, the vision system is implemented for allowing altitude control, which allows stabilizing the 3-dimensional position and regulating the velocity of the vehicle using optical flow. For validating the effectiveness of the two vision-based control strategies, the tasks of autonomous hover and navigation are executed in real-time experiments.


Optical Flow Slide Mode Controller Translational Velocity Road Model Optical Flow Computation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  • Luis Rodolfo García Carrillo
    • 1
  • Alejandro Enrique Dzul López
    • 2
  • Rogelio Lozano
    • 3
  • Claude Pégard
    • 4
  1. 1.HEUDIASYC UMR 6599, Centre de Recherches de RoyalieuUniversité de Technologie de CompiègneCompiègne cedexFrance
  2. 2.División de Estudios de PosgradoInstituto Tecnológico de la LagunaTorreónMexico
  3. 3.UMR-CNRS 6599, Centre de Recherche de RoyalieuUniversité de Technologie de CompiègneCompiègneFrance
  4. 4.Laboratoire MIS EA 4290Université de Picardie Jules VerneAmiensFrance

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