Onboard Active Vision Based Hovering Control for Quadcopter in Indoor Environments
Tae-Seok Jin · 한국산업융합학회 논문집 · 2017
In this paper, we describe the design and performance of UAV system toward compact and fully autonomous quadrotors, where they can complete logistics application, rescue work, inspection tour and remote sensing without external assistance systems like ground station computers, high-performance wireless communication devices or motion capture system. we propose high-speed hovering flyght height control method based on state feedback control with image information from active camera and multirate observer because we can get image of the information only every 30ms. Finally, we show the advantages of proposed method by simulations and experiments.