Visual Flight Control of a Quadrotor Using Bioinspired Motion Detector
Joint Authors
Wu, Haiyan
Zhang, Tianguang
Zhang, Lei
Kühnlenz, Kolja
Borst, Alexander
Source
International Journal of Navigation and Observation
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-05-08
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Motion detection in the fly is extremely fast with low computational requirements.
Inspired from the fly's vision system, we focus on a real-time flight control on a miniquadrotor with fast visual feedback.
In this work, an elaborated elementary motion detector (EMD) is utilized to detect local optical flow.
Combined with novel receptive field templates, the yaw rate of the quadrotor is estimated through a lookup table established with this bioinspired visual sensor.
A closed-loop control system with the feedback of yaw rate estimated by EMD is designed.
With the motion of the other degrees of freedom stabilized by a camera tracking system, the yaw-rate of the quadrotor during hovering is controlled based on EMD feedback under real-world scenario.
The control performance of the proposed approach is compared with that of conventional approach.
The experimental results demonstrate the effectiveness of utilizing EMD for quadrotor control.
American Psychological Association (APA)
Zhang, Lei& Zhang, Tianguang& Wu, Haiyan& Borst, Alexander& Kühnlenz, Kolja. 2012. Visual Flight Control of a Quadrotor Using Bioinspired Motion Detector. International Journal of Navigation and Observation،Vol. 2012, no. 2012, pp.1-9.
https://search.emarefa.net/detail/BIM-486252
Modern Language Association (MLA)
Zhang, Lei…[et al.]. Visual Flight Control of a Quadrotor Using Bioinspired Motion Detector. International Journal of Navigation and Observation No. 2012 (2012), pp.1-9.
https://search.emarefa.net/detail/BIM-486252
American Medical Association (AMA)
Zhang, Lei& Zhang, Tianguang& Wu, Haiyan& Borst, Alexander& Kühnlenz, Kolja. Visual Flight Control of a Quadrotor Using Bioinspired Motion Detector. International Journal of Navigation and Observation. 2012. Vol. 2012, no. 2012, pp.1-9.
https://search.emarefa.net/detail/BIM-486252
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-486252