Formation Control of Quadrotor UAVs by Vision-Based Positioning

Wooh Yun Kim; Ji Wook Kwon; Ji Won Seo

doi:10.4028/www.scientific.net/AMM.798.282

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 798Formation Control of Quadrotor UAVs by...

Formation Control of Quadrotor UAVs by Vision-Based Positioning

Abstract:

In this paper, a formation control method of quadrotor Unmanned Aerial Vehicles (UAVs) by vision-based positioning is presented. The relative positions and attitudes of two UAVs with respect to a visual marker attached to the third UAV is estimated by a camera calibration method. Based on the estimated positions and attitudes, two UAVs are controlled to the desired positions to form a given formation with respect to the third UAV. A simplified dynamics model of a quadrotor UAV is utilized to design a controller. The proposed formation control method is validated by an experiment with a motion capture system which provides the ground truth of the position data.

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Periodical:

Applied Mechanics and Materials (Volume 798)

Pages:

282-286

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.798.282

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Online since:

October 2015

Authors:

Wooh Yun Kim, Ji Wook Kwon, Ji Won Seo*

Keywords:

Formation Control, Quadrotor, UAV, Visual Servoing

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* - Corresponding Author

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