Title :
The development and validation of an indoor experimental platform for UAV control system
Author :
Shi, Shu ; Hu, Fei ; Li, Jian ; Yao, Jianguo
Author_Institution :
Real-Time & Inter-Operate Lab., Shanghai Jiaotong Univ., Shanghai, China
Abstract :
The development and research of the unmanned helicopter control system is more and more popular all over the world. The outdoor experimental platform for the control system has several disadvantages compared to an indoor experimental platform. In this paper, a visual tracking system is brought to provide speed, angle and angular rate information of the helicopter. This visual tracking system is based on camera calibration and binocular imaging principle. We also proposed a new approach to validate the flight data. A 4th order transfer function has been identified to simulate the longitude input to angular rate response. We developed our indoor flight control system based on this visual tracking system and achieved the hovering flight of the helicopter.
Keywords :
aircraft control; autonomous aerial vehicles; helicopters; mobile robots; robot vision; tracking; transfer functions; UAV control system; angular rate response; binocular imaging principle; camera calibration; flight data validation; fourth order transfer function; helicopter angle information; helicopter angular rate information; helicopter hovering flight; helicopter speed information; indoor experimental platform; indoor flight control system; outdoor experimental platform; unmanned helicopter control system; visual tracking system; Aerospace control; Cameras; Control systems; Helicopters; Mathematical model; Visualization;
Conference_Titel :
Advanced Computational Intelligence (IWACI), 2011 Fourth International Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-1-61284-374-2
DOI :
10.1109/IWACI.2011.6159978
