The Journal of Korean Institute of Communications and Information Sciences (한국통신학회논문지)

The Korean Institute of Commucations and Information Sciences (한국통신학회)
권호 표지
DOI QR코드

DOI QR Code

Vision-Based Trajectory Tracking Control System for a Quadrotor-Type UAV in Indoor Environment

실내 환경에서의 쿼드로터형 무인 비행체를 위한 비전 기반의 궤적 추종 제어 시스템

  • 시효석 (일본 오사카대학 대학원 공학연구과 지능.기능 창성공학부) ;
  • 박현 (광운대학교 예술로봇연구소) ;
  • 김헌희 (광운대학교 예술로봇연구소) ;
  • 박광현 (광운대학교 로봇학부)
  • Received : 2013.11.08
  • Accepted : 2014.01.09
  • Published : 2014.01.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.

본 논문은 실내 환경에서의 엔터테인먼트 활용을 목적으로 쿼드로터형 비행체를 위한 비전 기반의 궤적 추종제어 시스템을 다룬다. 항공촬영 및 감시 등의 특수임무를 완수하기 위해 자율성이 강조되는 실외 비행체와 비교할 때, 엔터테인먼트를 목적으로 하는 실내 환경에서의 비행체를 위해서는 안정성 및 정밀성이 특히 고려된 호버링 및 궤적추종 기능 등이 요구된다. 이에, 본 논문은 동작생성, 자세추정, 궤적추종 모듈로 구성된 궤적추종 제어시스템을 제안한다. 동작생성 모듈은 매 시간에서의 3차원 자세로 기술되는 동작들에 대한 연속적인 시퀀스를 생성한다. 자세추정 모듈은 비행체에 장착된 원형 링 패턴의 인식을 통해 쿼드로터의 3차원 자세정보를 추정한다. 궤적추종 모듈은 동작생성 모듈과 자세추정 모듈로부터 제공되는 정보를 이용하여 쿼드로터 비행체의 3차원 위치를 실시간적으로 제어한다. 제안된 시스템의 성능은 단일 점 추종, 다점 추종, 곡선궤적 추종에 대한 실험을 통해 평가된다.

Keywords

References

  1. G. M. Hoffmann, H. Huang, S. L. Waslander, and C. J. Tomlin, "Quadrotor helicopter flight dynamics and control: theory and experiment," in Proc. AIAA Guidance, Navigation and Control Conf. Exhibit, pp. 1-20, Hilton Head, South Carolina, Aug. 2007.
  2. N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, "The GRASP multiple micro-UAV testbed," IEEE Mag. Robotics and Automation, vol. 17, no. 3, pp. 56-65, Sept. 2010. https://doi.org/10.1109/MRA.2010.937855
  3. D. Cabecinhas, R. Naldi, L. Marconi, C. Silvestre, and R. Cunha, "Robust take-off for a quadrotor vehicle," IEEE Trans. Robotics, vol. 28, no. 3, pp. 734-742, Jun. 2012. https://doi.org/10.1109/TRO.2012.2187095
  4. B. Herisse, T. Hamel, R. Mahony, and F.-X. Russotto, "Landing a VTOL unmanned aerial vehicle on a moving platform using optical flow," IEEE Trans. Robotics, vol. 28, no. 1, pp. 77-89, Feb. 2012. https://doi.org/10.1109/TRO.2011.2163435
  5. R. Zhang, Q. Quan, and K. Y. Cai, "Attitude control of a quadrotor aircraft subject to a class of time-varying disturbances," IET Control Theory & Appl., vol. 5, no. 9, pp. 1140-1146, Jun. 2011. https://doi.org/10.1049/iet-cta.2010.0273
  6. Z. Zuo, "Trajectory tracking control design with command-filtered compensation for a quadrotor," IET Control Theory & Appl., vol. 4, no. 11, pp. 2343-2355, Nov. 2010. https://doi.org/10.1049/iet-cta.2009.0336
  7. N. Guenard, T. Hamel, and R. Mahony, "A practical visual servo control for an unmanned aerial vehicle," IEEE Trans. Robotics, vol. 24, no. 2, pp. 331-340, Apr. 2008. https://doi.org/10.1109/TRO.2008.916666
  8. O. Bourquardez, R. Mahony, N. Guenard, F. Chaumette, T. Hamel, and L. Eck, "Imagebased visual servo control of the translation kinematics of a quadrotor aerial vehicle," IEEE Trans. Robotics, vol. 25, no. 3, pp. 743-749, Jun. 2009. https://doi.org/10.1109/TRO.2008.2011419
  9. S. Grzonka, G. Grisetti, and W. Burgard, "A fully autonomous indoor quadrotor," IEEE Trans. Robotics, vol. 28, no. 1, pp. 90-100, Feb. 2012. https://doi.org/10.1109/TRO.2011.2162999
  10. Firefly, Retrieved Jan., 6, 2013, from http://sen seable.mit.edu/flyfire/
  11. Vicon MX System, Retrieved Jan., 6, 2013, from http://www.vicon.com/
  12. G. Ducard and R. D'Andrea, "Autonomous quadrotor flight using a vision system and accommodating frames misalignment," in Proc. IEEE Int'l symp. Industrial embedded systems (SIES '09), pp. 261-264, Switzerland, Jul. 2009.
  13. J. H. Hwang, A study of integrated controller for the quadrotor flying robot, Master thesis, Sejong University, 2009.
  14. F. N. Fritsch and R. E. Carlson, "Monotone piecewise cubic interpolation," SIAM J. Numer. Anal., vol. 17, no. 2, pp. 238-246, 1980. https://doi.org/10.1137/0717021
  15. H.-H. Kim, K.-W. Park, and Y.-S. Ha, "3D pose estimation of a circular feature with a coplanar point," J. IEEK-System and Control, vol. 48, no. 5, pp. 382-393. 2012.
  16. Ascending Technologies, Retrieved Jan., 6, 2013, from http://www.asctec.de.
  17. Hyvision system, Retrieved Jan., 6, 2013, from http://wwwhyvision.co.kr.
  18. G. F. Franklin, M. L. Workman, and D. Powell, Feedback control of dynamic systems 6th Ed., Pearson, 2010.