THESIS
2013
xv, 56 pages : illustrations ; 30 cm
Abstract
Unmanned Aerial Vehicles (UAVs) are rapidly becoming popular for many missions that are
dangerous to pilots or require longer flight durations than are humanly possible. In this thesis,
a vision-based multi-rotor UAV control platform based on the networked control system was
developed.
An on-board IP camera was used as the main sensor for motion estimation purpose. Position
and velocity estimations in three directions of the earth frame were achieved from the camera
feedback combined with the pose information from the gyroscope and acceleration sensor
on the aircraft. Sensor feedback signals including camera, gyroscope, acceleration sensor and
ultrasonic sensor, were sent through the wireless network to the ground station which is a powerful
computing center. Computations of th...[
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Unmanned Aerial Vehicles (UAVs) are rapidly becoming popular for many missions that are
dangerous to pilots or require longer flight durations than are humanly possible. In this thesis,
a vision-based multi-rotor UAV control platform based on the networked control system was
developed.
An on-board IP camera was used as the main sensor for motion estimation purpose. Position
and velocity estimations in three directions of the earth frame were achieved from the camera
feedback combined with the pose information from the gyroscope and acceleration sensor
on the aircraft. Sensor feedback signals including camera, gyroscope, acceleration sensor and
ultrasonic sensor, were sent through the wireless network to the ground station which is a powerful
computing center. Computations of the optimal controller and video processing algorithm
were completed in the ground station.
Since the UAV control system was based on networked control, the delay compensation
algorithm was used in the control system. Therefore, the processor’s computing capability is
crucial to a UAV control system’s performances. In comparison to traditional solutions with
a powerful micro-processor integrated on the aircraft body, the networked control system is
able to connect the aircraft with an external processor to enhance the computing efficiency
and reduce the whole weight of the aircraft body. The networked control system is a low-cost
solution to some industrial UAV applications. The hardware and software architectures were
detailed in this thesis, including implementations of the hardware platform, video processing
algorithms and control strategies.
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