| dc.description.abstract | Quadrotors are a recent popular consumer product, prompting further developments with regards
to combining attitude and position control for such unmanned aerial vehicles (UAVs). The
quadrotor’s attitude (orientation) can be controlled using measurements from small and inexpensive
sensors such as gyroscopes, accelerometers, and magnetometers combined in a complementary
filter.
The quadrotor’s position can be controlled using a global positioning system (GPS); this has
shown to be an effective method but is not reliable in urban or indoor environments where quadrotors
may be flown. An alternative method such as visual servoing may provide reliable position
control in urban environments. Visual servoing uses one or more on-board cameras to detect
visual features in their field-of-view. If more than one camera is used, a more accurate position
can be determined.
This work discusses the the application of stereo visual servoing to a quadrotor for position control
combined in a Kalman filter with IMU readings to provide a better estimate of its position. | en_US |
