Autonomous hovering of a vision/IMU guided quadrotor

Tianguang Zhang; Ye Kang; Markus Achtelik; Kolja Kühnlenz; Martin Buss

doi:10.1109/ICMA.2009.5246422

Autonomous hovering of a vision/IMU guided quadrotor

Tianguang Zhang, Ye Kang, Markus Achtelik, Kolja Kühnlenz, Martin Buss

Chair of Automatic Control Engineering

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

42 Scopus citations

Abstract

We describe a multi-sensory control architecture for hovering of a mini four-rotor unmanned aerial vehicle (UAV) over specified markers as an external reference for pose estimation utilizing two on-board sensors: a tiny single camera and Inertial Measurement Units. A high-speed pose estimation approach based on visual information is presented. A closed-loop system is implemented using PID pose-controllers. The control performance is improved by integration of IMU measurement. Results of a real-time experiment are presented.

Original language	English
Title of host publication	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Pages	2870-2875
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2009.5246422
State	Published - 2009
Event	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 - Changchun, China Duration: 9 Aug 2009 → 12 Aug 2009

Publication series

Name	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

Conference

Conference	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Country/Territory	China
City	Changchun
Period	9/08/09 → 12/08/09

Keywords

Multiple sensing system
Pose estimation
UAV/MAV control
Vision system

Access to Document

10.1109/ICMA.2009.5246422

Cite this

@inproceedings{6859795f9c44401a873929927e9c0787,

title = "Autonomous hovering of a vision/IMU guided quadrotor",

abstract = "We describe a multi-sensory control architecture for hovering of a mini four-rotor unmanned aerial vehicle (UAV) over specified markers as an external reference for pose estimation utilizing two on-board sensors: a tiny single camera and Inertial Measurement Units. A high-speed pose estimation approach based on visual information is presented. A closed-loop system is implemented using PID pose-controllers. The control performance is improved by integration of IMU measurement. Results of a real-time experiment are presented.",

keywords = "Multiple sensing system, Pose estimation, UAV/MAV control, Vision system",

author = "Tianguang Zhang and Ye Kang and Markus Achtelik and Kolja K{\"u}hnlenz and Martin Buss",

year = "2009",

doi = "10.1109/ICMA.2009.5246422",

language = "English",

isbn = "9781424426935",

series = "2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009",

pages = "2870--2875",

booktitle = "2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009",

note = "2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 ; Conference date: 09-08-2009 Through 12-08-2009",

}

Zhang, T, Kang, Y, Achtelik, M, Kühnlenz, K & Buss, M 2009, Autonomous hovering of a vision/IMU guided quadrotor. in 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009., 5246422, 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, pp. 2870-2875, 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, Changchun, China, 9/08/09. https://doi.org/10.1109/ICMA.2009.5246422

Autonomous hovering of a vision/IMU guided quadrotor. / Zhang, Tianguang; Kang, Ye; Achtelik, Markus et al.
2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009. 2009. p. 2870-2875 5246422 (2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Autonomous hovering of a vision/IMU guided quadrotor

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AU - Kang, Ye

AU - Achtelik, Markus

AU - Kühnlenz, Kolja

AU - Buss, Martin

PY - 2009

Y1 - 2009

N2 - We describe a multi-sensory control architecture for hovering of a mini four-rotor unmanned aerial vehicle (UAV) over specified markers as an external reference for pose estimation utilizing two on-board sensors: a tiny single camera and Inertial Measurement Units. A high-speed pose estimation approach based on visual information is presented. A closed-loop system is implemented using PID pose-controllers. The control performance is improved by integration of IMU measurement. Results of a real-time experiment are presented.

AB - We describe a multi-sensory control architecture for hovering of a mini four-rotor unmanned aerial vehicle (UAV) over specified markers as an external reference for pose estimation utilizing two on-board sensors: a tiny single camera and Inertial Measurement Units. A high-speed pose estimation approach based on visual information is presented. A closed-loop system is implemented using PID pose-controllers. The control performance is improved by integration of IMU measurement. Results of a real-time experiment are presented.

KW - Multiple sensing system

KW - Pose estimation

KW - UAV/MAV control

KW - Vision system

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U2 - 10.1109/ICMA.2009.5246422

DO - 10.1109/ICMA.2009.5246422

M3 - Conference contribution

AN - SCOPUS:77449087188

SN - 9781424426935

T3 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

SP - 2870

EP - 2875

BT - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

T2 - 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

Y2 - 9 August 2009 through 12 August 2009

ER -

Autonomous hovering of a vision/IMU guided quadrotor

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Keywords

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