{"title":"具有加速鲁棒特性的四旋翼飞行器视觉定性路径跟踪控制","authors":"Trung Nguyen, G. Mann, R. Gosine","doi":"10.1109/CRV.2014.50","DOIUrl":null,"url":null,"abstract":"This paper describes a vision-based 3D navigation technique for path-following control of Quad rotor Aerial Visual-Teach-and-Repeat system. The navigation method is developed on Funnel Lane theory, which defines possible positions to fly straight. The navigation calculation utilizes the reference images and features to compute the desired heading angle and height during path following. The type of feature is Speeded-Up Robust Features (SURF). The tracking feature method between images is performed by matching SURF feature's descriptors. The Quad rotor is able to independently perform path following in indoor environment without the support of an external tracking system. Simulation is conducted on Robot Operating System (ROS) and Gazebo simulator. The application of the proposed method is visual-homing and visual-servoing in GPS-denied environment.","PeriodicalId":385422,"journal":{"name":"2014 Canadian Conference on Computer and Robot Vision","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Vision-Based Qualitative Path-Following Control of Quadrotor Aerial Vehicle with Speeded-Up Robust Features\",\"authors\":\"Trung Nguyen, G. Mann, R. Gosine\",\"doi\":\"10.1109/CRV.2014.50\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes a vision-based 3D navigation technique for path-following control of Quad rotor Aerial Visual-Teach-and-Repeat system. The navigation method is developed on Funnel Lane theory, which defines possible positions to fly straight. The navigation calculation utilizes the reference images and features to compute the desired heading angle and height during path following. The type of feature is Speeded-Up Robust Features (SURF). The tracking feature method between images is performed by matching SURF feature's descriptors. The Quad rotor is able to independently perform path following in indoor environment without the support of an external tracking system. Simulation is conducted on Robot Operating System (ROS) and Gazebo simulator. The application of the proposed method is visual-homing and visual-servoing in GPS-denied environment.\",\"PeriodicalId\":385422,\"journal\":{\"name\":\"2014 Canadian Conference on Computer and Robot Vision\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-05-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 Canadian Conference on Computer and Robot Vision\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CRV.2014.50\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 Canadian Conference on Computer and Robot Vision","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CRV.2014.50","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Vision-Based Qualitative Path-Following Control of Quadrotor Aerial Vehicle with Speeded-Up Robust Features
This paper describes a vision-based 3D navigation technique for path-following control of Quad rotor Aerial Visual-Teach-and-Repeat system. The navigation method is developed on Funnel Lane theory, which defines possible positions to fly straight. The navigation calculation utilizes the reference images and features to compute the desired heading angle and height during path following. The type of feature is Speeded-Up Robust Features (SURF). The tracking feature method between images is performed by matching SURF feature's descriptors. The Quad rotor is able to independently perform path following in indoor environment without the support of an external tracking system. Simulation is conducted on Robot Operating System (ROS) and Gazebo simulator. The application of the proposed method is visual-homing and visual-servoing in GPS-denied environment.