INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Homography-Based Pose Estimation to Guide a Miniature Helicopter During 3D-Trajectory Tracking
Autor/es:
JORGE SARAPURA; ALEXANDRE S. BRANDAO; MARIO SARCINELLI; RICARDO CARELLI
Lugar:
Paraná
Reunión:
Seminario; XIV Reunión de Procesamiento de la Información y Control, RPIC 2011; 2011
Institución organizadora:
UNER
Resumen:
This work proposes a pose-based visual servoing control, through using planar homography, to estimate the position and orientation of a miniature helicopter relative to a known pattern. Once having the current flight information, the nonlinear underactuated controller presented in one of our previous works, which attends all flight phases, is used to guide the rotorcraft during a 3D-trajectory tracking task. In the sequel, a simulation framework and the results of associated to a simulated flight, using such simulation framework, are presented and discussed, validating the use of the proposed controller when the proposed visual system is used.
