Vision-guided flight stability and control for micro
电镀铜包钢air vehicles
诺基亚cdma
单宁酶期刊名称： Advanced Robotics
作者： Ettinger, Scott M.,Nechyba, Michael C.,Ifju, Peter G.,Waszak, Martin
年份： 2003年
耐老化测试期号： 第7期
关键词： Practical, Theoretical or Mathematical/ aerospace robotics; attitude control; control system synthesis; feedback; mobile robots; remotely operated vehicles; robot vision; robust control; two-term control/ micro air vehicle; vision guided flight stability; horizon detection algorithm; computer vision; sensor technology; feedback controller; vision based control; aerial robotic; real time control/ C3360L Aerospace control C3390C Mobile robots C5260B Computer vision and image processing techniques C1320 Stability in control theory C3120C Spatial variables control C1310 Control system analysis and synthesis methods
fxdis
线路板制作
摘要：Substantial progress has been made recently towards designing, building and test-flying remotely piloted micro air vehicles (MAVs) and small unmanned air vehicles. We seek to complement this progress in overcoming the aerodynamic obstacles to flight at very small scales with a visionguided flight stability and autonomy system, based on a robust horizon detection algorithm. In this paper, we first motivate the use of computer vision for MAV autonomy, arguing that given current sensor technology, vision may be the only practical approach to the problem. We then describe our statistical vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification. Next, we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the
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