Visual servoing quadrotor control in autonomous target search

S. Darma, J. L. Buessler, G. Hermann, J. P. Urban, Benyamin Kusumo Putro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

The use of visual input for quadrotor unmanned aerial vehicle control calls for fast algorithms to identify and localize target objects in the video image. Localization of target is done using color histogram. Advantage of this method is not only capable to detect the target but it also give information on size that we use to calculate its position relative to the quadrotor. Once the target found, the quadrotor is guided using visual feedback control for the approach and then the precise pose position is maintained. In the desired position in front of the target, an angle of orientation is calculated using the detection and positioning technique. This angle controls yaw movement of the quadrotor, providing an ability to orientate its position when it arrives with a certain angle relative to target plane. Experiments were done in the indoor environment in sufficient light condition. A search order is defined based on patterns inside target images. The quadrotor takes off, then locates, approaches and orientates itself successively on four patterns found on four targets, and finally lands.

Original languageEnglish
Title of host publicationProceedings - 2013 IEEE 3rd International Conference on System Engineering and Technology, ICSET 2013
Pages319-324
Number of pages6
DOIs
Publication statusPublished - 31 Dec 2013
Event2013 IEEE 3rd International Conference on System Engineering and Technology, ICSET 2013 - Shah Alam, Malaysia
Duration: 19 Aug 201320 Aug 2013

Publication series

NameProceedings - 2013 IEEE 3rd International Conference on System Engineering and Technology, ICSET 2013

Conference

Conference2013 IEEE 3rd International Conference on System Engineering and Technology, ICSET 2013
CountryMalaysia
CityShah Alam
Period19/08/1320/08/13

Keywords

  • color histogram
  • detection and positioning
  • orientation
  • Quadrotor
  • visual feedback control

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  • Cite this

    Darma, S., Buessler, J. L., Hermann, G., Urban, J. P., & Putro, B. K. (2013). Visual servoing quadrotor control in autonomous target search. In Proceedings - 2013 IEEE 3rd International Conference on System Engineering and Technology, ICSET 2013 (pp. 319-324). [6650192] (Proceedings - 2013 IEEE 3rd International Conference on System Engineering and Technology, ICSET 2013). https://doi.org/10.1109/ICSEngT.2013.6650192