Autonomous target localization using quadrotor

Yun Hou, Changbin Yu

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    10 Citations (Scopus)

    Abstract

    In this paper, autonomous target localization is achieved on quadrotor helicopter, with the use of 2D laser rangefinder and fixed monocular camera. Color-featured target is located in 3D space without prior knowledge of its size or shape. Coordinate systems of camera and laser rangefinder are integrated to establish body-fixed reference coordinate system for both localization and flight control. Rotation compensation algorithm is developed to neutralize the errors introduced by the changes of attitude angles during the flight. With this feature, quadrotor can obtain the real world coordinates of target from one single frame of camera once the target is captured and identified, without the requirement of keeping orientated towards the target all the time. The relative position between quadrotor and target is updated every time the target is located. Indoor experiments are conducted with Asctec Pelican quadrotor to demonstrate the performance of the proposed localization approach.

    Original languageEnglish
    Title of host publication26th Chinese Control and Decision Conference, CCDC 2014
    PublisherIEEE Computer Society
    Pages864-869
    Number of pages6
    ISBN (Print)9781479937066
    DOIs
    Publication statusPublished - 2014
    Event26th Chinese Control and Decision Conference, CCDC 2014 - Changsha, China
    Duration: 31 May 20142 Jun 2014

    Publication series

    Name26th Chinese Control and Decision Conference, CCDC 2014

    Conference

    Conference26th Chinese Control and Decision Conference, CCDC 2014
    Country/TerritoryChina
    CityChangsha
    Period31/05/142/06/14

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