- Tytuł:
- Low altitude control for quadcopter using visual feedback
- Autorzy:
- Urbański, Konrad
- Powiązania:
- https://bibliotekanauki.pl/articles/1955189.pdf
- Data publikacji:
- 2021
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
control
estimation
ground effect
visual servoing
kontrola
szacowanie
efekt naziemny
serwomechanizm wizualny - Opis:
- The paper presents the results of simulations and experiments in the field of control of the low damping and time delay oscillating system. This system includes a quadcopter hovering at a very low altitude, and the altitude is controlled. The time delay is introduced mainly by the remote control device. In order to handle the quadcopter at low altitudes, a proportional-integral controller with a negative proportional coefficient is used. Such an approach can provide good results in the case of an oscillating, low damped system. This method of steering, which uses a typical radio control transmitter, can be used on any commercially available leisure drone. Feedback is provided by a camera and algorithms of computer vision. The presented results were obtained experimentally using free flight–without a harness. Different types of controllers are used to control horizontal shift and altitude.
- Źródło:
-
Archives of Electrical Engineering; 2021, 70, 4; 845-858
1427-4221
2300-2506 - Pojawia się w:
- Archives of Electrical Engineering
- Dostawca treści:
- Biblioteka Nauki
Artykuł