Pilz, UlfUlfPilzGropengießer, WillemWillemGropengießerWalder, FlorianFlorianWalderWitt, JonasJonasWittWerner, HerbertHerbertWerner2022-04-292022-04-292011Intelligent 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)http://hdl.handle.net/11420/12407This 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. © 2011 Springer-Verlag.enRTK-GPStrajectory trackingunmanned aerial vehicle (UAV)vision-based controlInformatikTechnikIngenieurwissenschaftenConference Paper10.1007/978-3-642-25486-4_2Other