具有人体检测和自动跟踪功能的手势驱动四旋翼机反步积分控制器的实现

2015 Second International Conference on Computer Science, Computer Engineering, and Social Media (CSCESM) Pub Date : 2015-11-19 DOI:10.1109/CSCESM.2015.7331881

Ramamoorthy Luxman, Xiao Liu

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引用次数: 5

摘要

这项工作演示了建立ETH的基于四轴飞行器的后退积分控制器，并由人类手势驱动。介绍了计算机视觉在四旋翼机操作中的新应用。在此基础上，设计了四旋翼飞行器对人的自动跟踪检测方法。该设计和建模已在该项目建造的450毫米尺寸的x配置四旋翼机上成功实现。本文还演示了MATLAB框架，对采用反步积分控制器设计的四旋翼进行了性能仿真和分析。简要介绍了ETH OS4四旋翼的控制器，并给出了一个易于使用的GUI在设计四旋翼时对控制器进行调优。

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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Implementation of back-stepping integral controller for a gesture driven quad-copter with human detection and auto follow feature

This work demonstrates building an ETH's back-stepping integral controller based quad-copter, and is driven by human gestures. A novel application of computer vision is introduced for easy operation of quad-copters. Furthermore a method for detecting and auto follow of human is devised in the quad-copter. The design and modeling have been successfully realized on the 450mm sized X-configured quad-copter built during this project. This paper also demonstrates a MATLAB framework, to simulate and analyze the performance of a quad-rotor designed with back-stepping integral controller. It gives a synopsis of the controller used in ETH OS4 quad-rotor and presents an easy to use GUI to tune the controller while designing the quad-rotor.

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来源期刊

2015 Second International Conference on Computer Science, Computer Engineering, and Social Media (CSCESM)

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