摘要
针对四旋翼无人机在给定地面标识点情况下的飞行控制技术进行研究,采用了基于卡尔曼滤波的Camshift算法进行目标识别,再采用PID控制器实现对无人机的位置控制,最后通过在Vicon环境下的定点飞行试验,验证了系统可行性。
In this paper, the flight control technique is invested for quadrotor unmanned aerial vehicle （UAV） with given ground marker point. Firstly, a Camshift algorithm based on Kalman filter is used to identify the guiding target. Secondly, a PIDController is used to control the position of the UAV. Finally, the flight guiding control system is verified with a Vicon indoor target positioning system, which shows that the propose flight control method is effective.
作者
陈崟松
吴芬
吴妍
CHEN Yin-song1, WU Feng2, WU Yan2(1. College of Elite Education, Nanjing University of Science and Technology, Nanjing 210094, China; 2.Institute of A utomation, Nanjing University of Science and Technology, Nanjing 210094, Chin)
出处
《电子设计工程》
2018年第5期38-43,共6页
Electronic Design Engineering
关键词
四旋翼
机器视觉
飞行控制
four-rotor
machine vision
light control
