A demonstration of my Master’s Thesis: Visual-Based Localization and Tracking of a UGV with a Quadcopter. In this project, a visual tracking framework is designed to track the UGV with an AR.Drone quadcopter from Parrot. The system utilizes a centralized control by a ground station which is running ROS and Ubuntu 12.04 LTS.

The first two experiments were taken with the support of a global vision system which was designed using a low cost web camera. While in the last experiment, the quadcopter simply uses IMU data for navigation. The image was captured from the bottom camera of the AR.Drone and processed with OpenCV. Four PID controllers were designed to control the motion of the quadcopter to make it hold at a position or track a trajectory.

The next step is to use such a robot system for factory and infrastructure inspection. But since I have to return my quadcopter to the department, it is really problematic for me to imply this idea. Hope I can find the chance to get another AR.Drone soon.


>> 本文章版权归作者所有,如需转载请联系作者授权许可。
>> 原文来自: 云飞机器人实验室
>> 原文地址: AR.Drone四轴飞行器位置伺服与视觉追踪


5 thoughts on “AR.Drone四轴飞行器位置伺服与视觉追踪

  1. 你好,我最近也在做四旋翼飞行器视觉导航方面的工作,我用的也是ardrone,国内这方面的资料并不是太多,我想了解下你做的这个项目,不知道能否借你的Visual-Based Localization and Tracking of a UGV with a Quadcopter这篇论文拜读下,谢谢

    1. 您好,我是刚开始用ardrone2.0做四旋翼飞行器视觉导航方面的工作,您能分享一些资料吗,本人邮箱596538691@qq.com,非常感谢您的指导资料。

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