Quadrocopter localization using RTK-GPS and vision-based trajectory tracking

First published in
Lecture notes in computer science  
Number in series
7101 LNCS
Issue
PART 1
Start Page
12
End Page
21
Citation
Intelligent robotics and applications : 4th international conference, ICIRA 2011, Aachen, Germany, December 6 - 8, 2011 ; proceedings. - Berlin, 2011. - (Lecture Notes in Computer Science ; vol. 7101 LNAI (PART 1)) : 12-21 (2011)
Contribution to Conference
4th International Conference on Intelligent Robotics and Applications, ICIRA 2011  
Publisher DOI
10.1007/978-3-642-25486-4_2
Scopus ID
2-s2.0-84855384282
Publisher
Springer
This paper presents a method for trajectory tracking control and waypoint navigation of a quadrocopter using a vision-based camera system and an exact method for outdoor positioning using the Real-Time Kinematic Global Positioning System (RTK-GPS). First a quadrocopter prototype developed at the university is introduced. Then localization results of a RTK-GPS are presented, which show that the precision of absolute position data for the aerial vehicle can be improved significantly compared to a standard GPS solution. Experimental results of a simple PID position control scheme are presented which is used to suppress position errors of a trajectory tracking controller. The main result of this paper is the development of a trajectory tracking scheme in three dimensions which can be used to navigate to several waypoints along a predefined path. Both position controller and trajectory tracking controller experiments are conducted using data gathered from a Wii Remote camera system.
Subjects
RTK-GPS
trajectory tracking
unmanned aerial vehicle (UAV)
vision-based control
DDC Class
004: Informatik
600: Technik
620: Ingenieurwissenschaften