Vision Based Output Feedback Control of Micro Aerial Vehicles in Indoor Environments

We present a new image based visual servoing (IBVS) approach for control of micro aerial vehicles (MAVs) in indoor environments. Specifically, we show how a MAV can be stabilized and guided using only corridor lines viewed on a front facing camera and angular velocity measurements. Since the suggested controller does not include explicit attitude feedback it does not require the use of accelerometers which are susceptible to vibrations, nor complex attitude estimation algorithms. The controller also does not require direct velocity measurements which are difficult to obtain in indoor environments. The paper presents the new method, stability analysis, simulations and experiments.

[1]  Ashutosh Saxena,et al.  Autonomous MAV flight in indoor environments using single image perspective cues , 2011, 2011 IEEE International Conference on Robotics and Automation.

[2]  Jonathan P. How,et al.  Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors , 2011 .

[3]  Rogelio Lozano,et al.  Stabilization and Trajectory Tracking of a Quad-Rotor Using Vision , 2011, J. Intell. Robotic Syst..

[4]  Zhaoying Zhou,et al.  Attitude Determination for MAVs Using a Kalman Filter , 2008 .

[5]  Mark Euston,et al.  A complementary filter for attitude estimation of a fixed-wing UAV , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Roland Siegwart,et al.  Full control of a quadrotor , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Manuel Menezes de Oliveira Neto,et al.  Real-time line detection through an improved Hough transform voting scheme , 2008, Pattern Recognit..

[8]  Tarek Hamel,et al.  A coupled estimation and control analysis for attitude stabilisation of mini aerial vehicles , 2006 .

[9]  Gera Weiss,et al.  Output feedback control of Micro Aerial Vehicle in indoor environment , 2015, 2015 23rd Mediterranean Conference on Control and Automation (MED).

[10]  Roland Siegwart,et al.  Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[11]  G. Klein,et al.  Parallel Tracking and Mapping for Small AR Workspaces , 2007, 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality.

[12]  T. Hamel,et al.  A practical Visual Servo Control for a Unmanned Aerial Vehicle , 2008, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[13]  Timothy W. McLain,et al.  Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model , 2014, IEEE Control Systems.

[14]  Nabil Aouf,et al.  Visual servoing of a Quadrotor UAV for autonomous power lines inspection , 2014, 22nd Mediterranean Conference on Control and Automation.

[15]  Claire J. Tomlin,et al.  Quadrotor Helicopter Trajectory Tracking Control , 2008 .

[16]  Roland Siegwart,et al.  Real-time onboard visual-inertial state estimation and self-calibration of MAVs in unknown environments , 2012, 2012 IEEE International Conference on Robotics and Automation.

[17]  T. Hamel,et al.  Complementary filter design on the special orthogonal group SO(3) , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[18]  Glenn P. Tournier,et al.  Estimation and Control of a Quadrotor Vehicle Using Monocular Vision and Moire Patterns , 2006 .

[19]  Vijay Kumar,et al.  Trajectory generation and control for precise aggressive maneuvers with quadrotors , 2012, Int. J. Robotics Res..

[20]  Daniel Cremers,et al.  Camera-based navigation of a low-cost quadrocopter , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[21]  Nicolas Petit,et al.  The Navigation and Control technology inside the AR.Drone micro UAV , 2011 .

[22]  Roland Siegwart,et al.  Vision based MAV navigation in unknown and unstructured environments , 2010, 2010 IEEE International Conference on Robotics and Automation.

[23]  Markus Hehn,et al.  A flying inverted pendulum , 2011, 2011 IEEE International Conference on Robotics and Automation.

[24]  Robert Mahony,et al.  Modelling and control of a quad-rotor robot , 2006 .