Quad-Rotor Switching Control: An Application for the Task of Path FollowingReport as inadecuate




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1 CCDC - Center for Control, Dynamical-Systems, and Computation Santa Barbara 2 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes Compiègne 3 ASER LAFMIA - Laboratoire Franco-Mexicain d-Informatique et d-Automatique, Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes Compiègne

Abstract : The problem of vision-based road following using a quad-rotor is addressed. The objective consists of estimating and tracking a road without a priori knowledge of such path. For thispurpose, two operational regions are defined: one for the case when the road is detected, and the other one for when it is not. A switching between imaging and inertial sensors measurements allows estimating the required vehicle-s parameters in both regions. Also, for dealing with both aforementioned cases, a switching control strategy which stabilizes the vehicle-s lateral position is proposed. The performance of the proposed switching methodologies is tested in real time experiments.

Keywords : vision system Switching Control quad-rotor trajectory traching





Author: Luis-Rodolfo Garcia Carrillo - Gerardo Flores - Guillaume Sanahuja - Rogelio Lozano -

Source: https://hal.archives-ouvertes.fr/



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