Tracking a Ground Moving Target with a Quadrotor Using Switching Control
Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera whi...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Gomez-Balderas, J. E. [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2012 |
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| Schlagwörter: |
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| Anmerkung: |
© Springer Science+Business Media B.V. 2012 |
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| Übergeordnetes Werk: |
Enthalten in: Journal of intelligent & robotic systems - Springer Netherlands, 1988, 70(2012), 1-4 vom: 12. Aug., Seite 65-78 |
|---|---|
| Übergeordnetes Werk: |
volume:70 ; year:2012 ; number:1-4 ; day:12 ; month:08 ; pages:65-78 |
| Links: |
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| DOI / URN: |
10.1007/s10846-012-9747-9 |
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OLC2057176673 |
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| 520 | |a Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. | ||
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| 700 | 1 | |a Lozano, R. |4 aut | |
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10.1007/s10846-012-9747-9 doi (DE-627)OLC2057176673 (DE-He213)s10846-012-9747-9-p DE-627 ger DE-627 rakwb eng 004 VZ Gomez-Balderas, J. E. verfasserin aut Tracking a Ground Moving Target with a Quadrotor Using Switching Control 2012 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media B.V. 2012 Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. Switching controllers Tracking Control strategy Flores, G. aut García Carrillo, L. R. aut Lozano, R. aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 70(2012), 1-4 vom: 12. Aug., Seite 65-78 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:70 year:2012 number:1-4 day:12 month:08 pages:65-78 https://doi.org/10.1007/s10846-012-9747-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_2057 AR 70 2012 1-4 12 08 65-78 |
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10.1007/s10846-012-9747-9 doi (DE-627)OLC2057176673 (DE-He213)s10846-012-9747-9-p DE-627 ger DE-627 rakwb eng 004 VZ Gomez-Balderas, J. E. verfasserin aut Tracking a Ground Moving Target with a Quadrotor Using Switching Control 2012 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media B.V. 2012 Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. Switching controllers Tracking Control strategy Flores, G. aut García Carrillo, L. R. aut Lozano, R. aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 70(2012), 1-4 vom: 12. Aug., Seite 65-78 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:70 year:2012 number:1-4 day:12 month:08 pages:65-78 https://doi.org/10.1007/s10846-012-9747-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_2057 AR 70 2012 1-4 12 08 65-78 |
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10.1007/s10846-012-9747-9 doi (DE-627)OLC2057176673 (DE-He213)s10846-012-9747-9-p DE-627 ger DE-627 rakwb eng 004 VZ Gomez-Balderas, J. E. verfasserin aut Tracking a Ground Moving Target with a Quadrotor Using Switching Control 2012 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media B.V. 2012 Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. Switching controllers Tracking Control strategy Flores, G. aut García Carrillo, L. R. aut Lozano, R. aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 70(2012), 1-4 vom: 12. Aug., Seite 65-78 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:70 year:2012 number:1-4 day:12 month:08 pages:65-78 https://doi.org/10.1007/s10846-012-9747-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_2057 AR 70 2012 1-4 12 08 65-78 |
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10.1007/s10846-012-9747-9 doi (DE-627)OLC2057176673 (DE-He213)s10846-012-9747-9-p DE-627 ger DE-627 rakwb eng 004 VZ Gomez-Balderas, J. E. verfasserin aut Tracking a Ground Moving Target with a Quadrotor Using Switching Control 2012 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media B.V. 2012 Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. Switching controllers Tracking Control strategy Flores, G. aut García Carrillo, L. R. aut Lozano, R. aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 70(2012), 1-4 vom: 12. Aug., Seite 65-78 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:70 year:2012 number:1-4 day:12 month:08 pages:65-78 https://doi.org/10.1007/s10846-012-9747-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_2057 AR 70 2012 1-4 12 08 65-78 |
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10.1007/s10846-012-9747-9 doi (DE-627)OLC2057176673 (DE-He213)s10846-012-9747-9-p DE-627 ger DE-627 rakwb eng 004 VZ Gomez-Balderas, J. E. verfasserin aut Tracking a Ground Moving Target with a Quadrotor Using Switching Control 2012 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media B.V. 2012 Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. Switching controllers Tracking Control strategy Flores, G. aut García Carrillo, L. R. aut Lozano, R. aut Enthalten in Journal of intelligent & robotic systems Springer Netherlands, 1988 70(2012), 1-4 vom: 12. Aug., Seite 65-78 (DE-627)130464864 (DE-600)740594-7 (DE-576)018667805 0921-0296 nnns volume:70 year:2012 number:1-4 day:12 month:08 pages:65-78 https://doi.org/10.1007/s10846-012-9747-9 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2006 GBV_ILN_2057 AR 70 2012 1-4 12 08 65-78 |
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Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. © Springer Science+Business Media B.V. 2012 |
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Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. © Springer Science+Business Media B.V. 2012 |
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Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed. © Springer Science+Business Media B.V. 2012 |
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<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000caa a22002652 4500</leader><controlfield tag="001">OLC2057176673</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230503115909.0</controlfield><controlfield tag="007">tu</controlfield><controlfield tag="008">200820s2012 xx ||||| 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s10846-012-9747-9</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)OLC2057176673</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-He213)s10846-012-9747-9-p</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="082" ind1="0" ind2="4"><subfield code="a">004</subfield><subfield code="q">VZ</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Gomez-Balderas, J. E.</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Tracking a Ground Moving Target with a Quadrotor Using Switching Control</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2012</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">ohne Hilfsmittel zu benutzen</subfield><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Band</subfield><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© Springer Science+Business Media B.V. 2012</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The architecture implemented consists of a quadrotor equipped with an embedded camera which provides real-time video to a computer vision algorithm where images are processed. A vision-based estimator is proposed, which makes use of 2-dimensional images to compute the relative 3-dimensional position and translational velocity of the UAV with respect to the target. The proposed estimator provides the required states measurements to a micro-controller for stabilizing the vehicle during flight. The control strategy consists of switching controllers, which allows making decisions when the target is lost temporarily or when it is out of the camera’s field of view. Real time experiments are presented to demonstrate the performance of the target-tracking system proposed.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Switching controllers</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Tracking</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Control strategy</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Flores, G.</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">García Carrillo, L. 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