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Vision Based Tracking for a Quadrotor Using Vanishing Points

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An Erratum to this article was published on 11 November 2011

Abstract

In this paper, a vision based line tracking control strategy for mini-rotorcraft is presented. In order to estimate the 3-D position of the mini-rotorcraft over the trajectory a vanishing points technique is used. A dynamic model is derived employing the Newton–Euler approach and a nonlinear controller to stabilize, in closed-loop system, this mathematical model is proposed. To validate the theoretical results, a real-time embedded control system has been developed. The performance of the vision and control algorithms has been tested when the helicopter has tracked a line painted in a wall. The experimental results have shown the good behavior of the control laws.

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Authors and Affiliations

  1. Université de Technologie de Compiègne, Compiègne, France

    Jose-Ernesto Gomez-Balderas, Pedro Castillo, Jose Alfredo Guerrero & Rogelio Lozano

Authors
  1. Jose-Ernesto Gomez-Balderas
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  2. Pedro Castillo
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  3. Jose Alfredo Guerrero
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  4. Rogelio Lozano
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Corresponding author

Correspondence to Jose-Ernesto Gomez-Balderas.

Additional information

An erratum to this article can be found at http://dx.doi.org/10.1007/s10846-011-9638-5

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Gomez-Balderas, JE., Castillo, P., Guerrero, J.A. et al. Vision Based Tracking for a Quadrotor Using Vanishing Points. J Intell Robot Syst 65, 361–371 (2012). https://doi.org/10.1007/s10846-011-9579-z

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  • DOI: https://doi.org/10.1007/s10846-011-9579-z

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