Autonomous Target Localization using Quadrotor
作者单位：Shandong Computer Science CenterJinan250014China The Australian National University and NICTA Ltd
会议名称：《第26届中国控制与决策会议》
会议日期：2014年
学科分类：08[工学] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术]
基 金：supported in part by the Australian Research Council through Discovery Project DP130103610 a Queen Elizabeth II Fellowship under Grant DP110100538 Overseas Expert Program of Shandong Province a grant from Shandong Academy of Science Development Fund for Science and Technology the Pilot Project for Science and Technology in Shandong Academy of Science the Open Research Project of the State Key Laboratory of Industrial Control Technology, Zhejiang University, China
关 键 词：Quadrotor Target Localization Autonomous Flight
摘 要：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.