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Visual Servoing for a Quadcopter Flight Control
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis the potential of visual servoing techniques for vertical take-off and landing(VTOL) UAV platforms is explored. An overview of UAV applications and state-of-the-art quadrotors is provided, backed up by the necessary theoretical background. Visualservoing based solutions of the important flight tasks (such as vertical take-off and land-ing, obstacle avoidance and attitude estimation) are presented.A novel vision based autopilot for vertical take-off and landing is developed, exper-imentally verified and implemented on a medium-size outdoor quadrotor platform pro-vided by Dr. YangQuan Chen from Utah State University, Center for Self-OrganizingIntelligent Systems.

Place, publisher, year, edition, pages
2012.
Keyword [en]
Technology, VTOL, UAV, vision based autopilot, quadrotor, quadcopter, visual servoing
Keyword [sv]
Teknik
Identifiers
URN: urn:nbn:se:ltu:diva-46069Local ID: 3b590a63-61bc-4a62-b7a9-28c7f96466f5OAI: oai:DiVA.org:ltu-46069DiVA: diva2:1019380
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Supervisors
Note
Validerat; 20120723 (anonymous)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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fulltext(5567 kB)282 downloads
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Type fulltextMimetype application/pdf

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Podhradsky, Michal

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf