scholarly journals Autonomous Hovering and Landing of a Quad-rotor Micro Aerial Vehicle by Means of on Ground Stereo Vision System

2010 ◽  
Vol 4 (2) ◽  
pp. 269-284 ◽  
Author(s):  
Dwi PEBRIANTI ◽  
Farid KENDOUL ◽  
Syaril AZRAD ◽  
Wei WANG ◽  
Kenzo NONAMI
Keyword(s):  
Stereo Vision ◽  
Vision System ◽  
Micro Aerial Vehicle ◽  
Stereo Vision System ◽  
Aerial Vehicle

Sliding Mode Controller for Stereo Vision Based Autonomous Flight of Quad-Rotor M

2011 ◽  
Vol 23 (1) ◽  
pp. 137-148 ◽  
Author(s):  
Dwi Pebrianti ◽  
◽  
WeiWang ◽  
Daisuke Iwakura ◽  
Yuze Song ◽  
...  
Keyword(s):  
Object Tracking ◽  
Stereo Vision ◽  
Flight Control ◽  
Background Subtraction ◽  
Sliding Mode ◽  
Vision System ◽  
Sliding Mode Controller ◽  
Model Errors ◽  
Stereo Vision System ◽  
Aerial Vehicle

We have investigated the possibility of a Sliding Mode Controller (SMC) for autonomous hovering and waypoint of a quad-rotor Micro Aerial Vehicle (MAV) based on an on ground stereo vision system. The object tracking used here is running average background subtraction. Among the background subtraction algorithms for object tracking, running average is known to have the fastest processing speed and the lowest memory requirement. Stereo vision system is known to have a good performance in measuring the distance from camera to object without any information regarding the object geometry in advance. SMC is known to have advantage of insensitivity to the model errors, parametric uncertainties and other disturbances. The experiment on autonomous hovering and way-point by using running average method for object tracking and SMC for the flight control shows a reliable result.

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