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Vision-based autonomous hovering for a miniature quad-rotor
J. E. Gomez-Balderas, S. Salazar, J. A. Guerrero, R. Lozano
Journal:

Robotica / Volume 32 / Issue 1 / January 2014

Published online by Cambridge University Press:

19 July 2013, pp. 43-61
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In this paper, a vision-based scheme for the autonomous hovering of a miniature quad-rotor is developed. Cameras are used to estimate the position and the translational velocity of the vehicle. The dynamic model of the miniature quad-rotor is developed using the Newton–Euler approach. A nonlinear controller based on a separated saturation control strategy for a miniature quad-rotor is presented. To validate the theoretical results, an embedded control system for the miniature quad-rotor has been developed. Thus, the analytic results are supported by experimental tests. Experimental results have validated the proposed control strategy.