Flexible Vision-based controlof a 6DOF quadrotor

Chayatat RatanasawanyaMay 18, 2011

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OverviewRecallsProgress & AchievementResults

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Recall…Develop a flexible human/machine control

system to hover an UAV (6-DOF helicopter) carrying a VDO camera beside an object of interest; e.g. a window.

Method: Human control – Joystick Machine control – Visual-servoing

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Recall…Quanser provided height(Y), X&Z position,

and yaw controllersMap image info to positional infoPOSIT algorithmTarget object

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SuccessfullyHeight is always control by sonar feedbackFlexible human/machine control

QballPID

IMURoll,

PitchOptitrack

Magnetometer

X*, Z*

Yaw*

Single Camera

In-flight modifiable

LQR

Roll*, Pitch*

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Reference case: OptitrackVDO

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Reference case: Optitrack0.02

-0.13

0.29

-0.01

15.5⁰

-5.5⁰

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Result: Flexible controlVDO

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Result: Flexible control0.7

0.3

2.3

2.0

9⁰

-5⁰

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Result: Multiple targetsVDO

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Result: Multiple targets0.7

0.3

2.3

2.0

9⁰

-5⁰

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ConclusionImage information is mapped to positional

control inputs via POSIT algorithmResult is position-based visual servoingError is defined in object frame; NOT world

frameAchieved human-machine control flexibility Able to change desired X, Z, Yaw positions in

flightAble to hover in front of multiple targets (one

at a time). Model of each target must be known.

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Questions?