عنوان

Quad Rotorcraft Contro

شابک

9781447143994

کد کشور

IR

شماره

EN-51634

زبان متن نوشتاري يا گفتاري و مانند آن

انگلیسی

کشور محل نشر

IR

عنوان اصلي

Quad Rotorcraft Contro

نام عام مواد

[Book]

ساير اطلاعات عنواني

:Vision-Based Hovering and Navigation

نام نخستين پديدآور

/ by Luis Rodolfo Garc?ضa Carrillo, Alejandro Enrique Dzul L?لآpez, Rogelio Lozano, Claude P?شgard

خط فهرست نويسي و خط اصلي شناسه

fa

محل نشرو پخش و غیره

London

نام ناشر، پخش کننده و غيره

: Springer London :Imprint: Springer,

تاریخ نشرو بخش و غیره

, 2013.

نام خاص و کميت اثر

XIX, 179 p. 117 illus., 74 illus. in color., online resource.

عنوان فروست

(Advances in Industrial Control,1430-9491)

متن يادداشت

Electronic

متن يادداشت

Quad-Rotor Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use of low-cost components and with experimentally-established robustness, avoids drift in the UAV's angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor's Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor's 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text gives the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.

متن يادداشت

Modeling the Quad-Rotor Mini-Rotorcraft -- The Quad-Rotor Experimental Platform -- Hovering Flight Improvement -- Imaging Sensors for State Estimation -- Vision-Based Control of a Quad-Rotor UAV -- Combining Sensing Systems for the Quad-Rotor.

عنوان

Advances in Industrial Control,1430-9491

موضوع مستند نشده

Engineering

موضوع مستند نشده

Computer vision

موضوع مستند نشده

Astronautics

موضوع مستند نشده

Electronic books

شماره رده

مستند نام اشخاص تاييد نشده

Garc?ضa Carrillo, Luis Rodolfo.

مستند نام اشخاص تاييد نشده

Dzul L?لآpez, Alejandro Enrique

مستند نام اشخاص تاييد نشده

Lozano, Rogelio

مستند نام اشخاص تاييد نشده

P?شgard, Claude

مستند نام اشخاص تاييد نشده

SpringerLink (Online service)

کشور

ایران

نام ميزبان

9781447143987.pdf

شماره دسترسي

عادی

اطلاعات مختصر

عادی

تاريخ و ساعت مذاکره و دسترسي

9781447143987.pdf

نوع فرمت الکترونيکي

متن

وضعیت فهرست نویسی

old catalog

فرمت انتشار

e

نوع ماده

BL

پیشوند ISBD اعمال شده است

1

سطح دسترسي

a

تكميل شده

Y