Artículos de revistas
Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
Brandão, Alexandre ; Sarapura, Jorge Antonio; Sarcinelli Filho, Mario ; Carelli Albarracin, Ricardo Oscar; Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking; Plapiqui; Latin American Applied Research; 43; 3; 12-2013; 281-286
Sarapura, Jorge Antonio
Sarcinelli Filho, Mario
Carelli Albarracin, Ricardo Oscar
This work proposes a pose-based visual servoing control, through using planar homography, to estimate the position and orientation of a miniature helicopter relative to a known pattern. Once having the current flight information, the nonlinear underactuated controller presented in one of our previous works, which attends all flight phases, is used to guide the rotorcraft during a 3Dtrajectory tracking task. In the sequel, the simulation framework and the results obtained using it are presented and discussed, validating the proposed controller when a visual system is used to determine the helicopter pose information.