Visual Servoing of Micro Aerial Vehicles with the Cooperation of Ground Vehicle

Jiayi Li, Wei Dong, X. Sheng, S. Xu
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引用次数: 2

Abstract

A ground-to-air cooperation system is proposed in this article aiming to enhance the performance of Micro Aerial Vehicles(MAVs) in GPS-denied environment. The MAV cooperates with the ground vehicle to complete flying task. Specifically, the ground vehicle uses a monocular camera to track the marker points on the MAV with background subtraction and optical flow algorithms to avoid interference from unrelated backgrounds, and calculates the position relative to the ground vehicle. After receiving the position of the ground vehicle, the MAV fuses the observed position with its own accelerometer information, and performs self-state estimation and feedback control. Compared with the past methods, the proposed method can effectively remove the interference of complex background, perform point-tracking on the MAV markers to improve the robustness of positioning, and reduce the state estimation delay by fusing multi-sensor information. Experiments are carried out to verify the flight path of the MAV observed by the ground vehicle with the trajectory from the Vicon motion capture system, and thus prove the accuracy and effectiveness of the system.
地面车辆协同的微型飞行器视觉伺服
为了提高微型飞行器在gps阻断环境下的性能,提出了一种地空协同系统。MAV配合地面飞行器完成飞行任务。具体而言,地面车辆使用单目摄像机跟踪MAV上的标记点,采用背景减法和光流算法避免不相关背景的干扰,并计算相对于地面车辆的位置。MAV接收到地面车辆的位置后,将观测到的位置与自身加速度计信息融合,进行自我状态估计和反馈控制。与以往的方法相比,该方法能够有效地去除复杂背景的干扰,对MAV标记进行点跟踪,提高定位的鲁棒性,并通过融合多传感器信息减少状态估计延迟。利用Vicon运动捕捉系统的运动轨迹对地面飞行器观测到的MAV飞行轨迹进行了验证实验,验证了系统的准确性和有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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