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Two-view epipole - based guidance control for autonomous unmanned aerial vehicles

Achicanoy, Wilson O Y Sagues, C Y Lopez, Nicolas G Y Rodriguez, C (2012) Two-view epipole - based guidance control for autonomous unmanned aerial vehicles. In: 9th International Conference on Informatics in Control Automation and Robotics ICINCO 2012, 28 Julio 2012, Roma, Italia.

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A visual control based on epipolar geometry is proposed to guide an autonomous unmanned aerial vehicle (UAV) to a target position. The interest of this contribution resides in a new controller that allows purely vision-based guidance reducing the dependence on the accuracy of the system’s state estimation using sensors as Inertial Measurement Units (IMU) and Global Positioning Systems (GPS). A current view and a target view are defined by a camera on-board the vehicle and a camera located at the target’s position, respectively. The epipolar coordinates from these views are used to design a nonlinear control based on input-output linearization of the nonlinear engagement rule that relates the cameras’ positions in time. An integrator is included to force the outputs (epipolar coordinates) to follow an equilibrium point and a state feedback control law is proposed to stabilize the outcome of the linearized input-output mapping. Simulation experiments for guidance of an small autonomous UAV with a classical three-loop autopilot are presented.

Tipo de Elemento: Conferencia o Taller artículo (Paper)
Asunto: T Tecnología > TK Electrical engineering. Electronics Nuclear engineering
T Tecnología > TL Motor vehicles. Aeronautics. Astronautics
Division: Facultad de Ingeniería > Programa de Ingeniería Electrónica > Productividad
Depósito de Usuario: Andres Pantoja
Fecha Deposito: 13 Sep 2018 14:47
Ultima Modificación: 13 Sep 2018 14:47

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