Vision-Based Trajectory Tracking Control System for a Quadrotor-Type UAV in Indoor Environment

This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control. 논문 14-39C-01-06 한국통신학회논문지(J-KICS) '14-01 Vol.39C No.01 http://dx.doi.org/10.7840/kics.2014.39C.1.47 47 ※ 이 논문은 2011년도 정부(교육과학기술부)의 재원으로 한국연구재단의 기초연구사업 지원을 받아 수행된 것임(NRF-2011-0024979) First Author : 일본 오사카대학 대학원 공학연구과 지능·기능 창성공학부 박사과정, mni3004@gmail.com, 정회원 ° Corresponding Author : 광운대학교 로봇학부 부교수, akaii@kw.ac.kr, 정회원 * 광운대학교 예술로봇연구소 연구원, park1263@naver.com, heonhuikim@gmail.com 논문번호:KICS2013-11-489, 접수일자:2013년 11월 8일, 심사일자 : 2013년 12월 14일, 최종논문접수일자 : 2014년 1월 9일 한국통신학회논문지(J-KICS) '14-01 Vol.39C No.01