| Resumen |
In this paper, the vision regulation of aquadrotor is introduced. The goal of the regulation is to maintain the vehicle in a desired and constant position. The proposed strategy consists in three steps: 1) a camera is employed as a retro to obtain the position, 2) the optical flow of the Lucas and Kanade method is applied to obtain the linear velocity, 3) the position and velocity are
employed by a proportional integral derivative control
(PID) with nested saturation for the quadrotor regulation.
In addition, the comparison between the monocular vision
with optical flow and stereo vision with optical flow is
showed, obtaining that the second improved the first for
the regulation of the vehicle. |
