Shaima Abdulwahab Ali Al Habsi, M. Shehada, Marwah Abdoon, Ahmed Mashood, H. Noura
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引用次数: 21
摘要
本项目的主要目标是为鹦鹉AR无人机(Parrot AR Drone)型无人机设计并实现室内自主飞行控制。当AR无人机能够在没有任何人工干预的情况下遵循预定义的轨迹时，就实现了自主飞行。为此，使用Mathworks在Matlab\Simulink软件下设计的Parrot AR无人机控制算法并对其进行了增强。作为控制模型开发和增强的一部分，由一组摄像机组成的Vicon捕获系统与AR无人机Matlab\Simulink实时集成。使用Vicon捕获系统捕获AR无人机的位置，并将其与AR无人机机载传感器获得的估计位置进行比较。我们注意到，Vicon相机的位置估计比传感器的估计更接近真实位置。
Integration of a Vicon camera system for indoor flight of a Parrot AR Drone
The main objective of this project is to design and implement an indoor autonomous flight control for Unmanned Aerial Vehicle (UAV) of type Parrot AR Drone. Autonomous flight is achieved when the AR Drone is capable of following a predefined trajectory without any human interaction. For this purpose, a control algorithm for Parrot AR Drone designed by Mathworks under software Matlab\Simulink was used and enhanced. As a part of the control model development and enhancement, a Vicon Capture System consisting of a set of cameras was integrated in real time with the AR Drone Matlab\Simulink. Vicon Capture System was used to capture the position of AR Drone and compare it with the estimated position obtained from AR Drone on-board sensors. It was noticed that the Vicon cameras' position estimation was closer to the real position than the sensors' estimation.
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