International Journal of Aeronautical and Space Sciences

  • 제9권1호
  • /
  • Pages.76-84
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  • 2008
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  • 2093-274X(pISSN)
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  • 2093-2480(eISSN)
한국항공우주학회 (The Korean Society for Aeronautical and Space Sciences)
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Attitude Stabilization of a Quad-Rotor UAV Using a Two-camera Vision System

  • Won, Dae-Yeon (Division of Aerospace Engineering, School of Mechanical, Aerospace and Systems Engineering Korea Advanced Institute of Science and Technology (KAIST)) ;
  • Tahk, Min-Jea (Division of Aerospace Engineering, School of Mechanical, Aerospace and Systems Engineering Korea Advanced Institute of Science and Technology (KAIST))
  • 발행 : 2008.05.10
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초록

This paper is mainly concerned with the vision-based attitude stabilization of a quad-rotor UAV. The methods for attitude control rely on computing the roll and pitch angles of the vehicle from a two-camera vision system. One camera is attached to the body-fixed x-axis and the other to the body-fixed y-axis. The attitude computation for the quad-rotor UAV is performed by image processing consisting of Canny edge and Hough line detection. A proportional and integral controller is employed for the attitude hold autopilot. In this paper, the quad-rotor UAV is modeled by 6-DOF nonlinear equations of motion that includes rotor aerodynamics with blade element theory. The performance of the proposed method is evaluated through 3D environmental numerical simulations.

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참고문헌

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