Quad Rotorcraft Control
Quad Rotorcraft Control
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四旋翼飞行器控制
DOI：
10.1007/978-1-4471-4399-4
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
C. Pégard
中科院分区：
文献类型：
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作者：
L. G. Carrillo;A. López;R. Lozano;C. Pégard
Quad Rotorcraft Control 开发了用于自主迷你四旋翼机器人直升机的导航和悬停飞行的原创控制方法。这些方法使用成像系统以及惯性和高度传感器的组合来定位和引导无人机相对于其周围环境的运动。介绍了无人机的历史、分类和应用，然后描述了四旋翼飞行器的建模技术和实验平台本身。然后提出了一种改进四旋翼飞行器姿态稳定性的控制策略，并在实时实验中进行了测试。该策略基于使用低成本组件和经过实验建立的稳健性，通过在每个电子速度控制器中添加内部控制回路，确保在悬停飞行期间，所有四个电机以几乎相同的速度转动，从而避免无人机角位置的漂移。四旋翼飞行器的欧拉角非常接近原点，可以结合其他传感器（例如 GPS 或图像传感设备）来执行自主定位或轨迹跟踪任务。引入并分别测试了两种基于愿景的策略，每种策略都旨在处理特定类型的任务。第一个将四旋翼稳定在地面着陆垫上；它使用单应性估计提取 3 维位置，并通过光流计算得出平移速度。第二个结合了颜色提取和线条检测算法来控制四旋翼的三维位置，并在道路跟踪任务中实现前向速度调节。为了估计四旋翼飞行器在建筑物或其他非结构化、缺乏 GPS 的环境中演化时的平移动力学特性（相对位置和平移速度），将成像、惯性和高度传感器组合在状态观测器中。本书向读者介绍了无人机控制中遇到的问题的最新观点，特别是与四旋翼飞行器相关的问题，它将引起该领域研究人员和研究生的兴趣。所提出的基于视觉的控制策略可帮助读者更好地理解如何使用成像系统来获取执行旋翼无人机操作中普遍存在的悬停和导航任务所需的信息。
Quad Rotorcraft 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 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 give 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.