Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking

Autores
Brandão, Alexandre; Sarapura, Jorge Antonio; Sarcinelli Filho, Mario; Carelli Albarracin, Ricardo Oscar
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Fil: Brandão, Alexandre . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Fil: Sarapura, Jorge Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina
Fil: Sarcinelli Filho, Mario . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina
Materia
AERIAL VEHICLES
PLANAR HOMOGRAPHY
UNDERACTUATED MACHINES
NONLINEAR CONTROL
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/10946
Acceder
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network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory trackingBrandão, Alexandre Sarapura, Jorge AntonioSarcinelli Filho, Mario Carelli Albarracin, Ricardo OscarAERIAL VEHICLESPLANAR HOMOGRAPHYUNDERACTUATED MACHINESNONLINEAR CONTROLhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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.Fil: Brandão, Alexandre . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; BrasilFil: Sarapura, Jorge Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; ArgentinaFil: Sarcinelli Filho, Mario . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; BrasilFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; ArgentinaPlapiqui2013-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/10946Brandão, 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; 281-2860327-07931851-8796enginfo:eu-repo/semantics/altIdentifier/url/http://www.laar.uns.edu.ar/indexes/artic_v4303/Vol43_03_281.pdfinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:17:03Zoai:ri.conicet.gov.ar:11336/10946instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-10 13:17:03.588CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
title Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
spellingShingle Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
Brandão, Alexandre
AERIAL VEHICLES
PLANAR HOMOGRAPHY
UNDERACTUATED MACHINES
NONLINEAR CONTROL
title_short Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
title_full Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
title_fullStr Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
title_full_unstemmed Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
title_sort Homography-based pose estimation to guide a miniature helicopter during 3D-trajectory tracking
dc.creator.none.fl_str_mv Brandão, Alexandre
Sarapura, Jorge Antonio
Sarcinelli Filho, Mario
Carelli Albarracin, Ricardo Oscar
author Brandão, Alexandre
author_facet Brandão, Alexandre
Sarapura, Jorge Antonio
Sarcinelli Filho, Mario
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Sarapura, Jorge Antonio
Sarcinelli Filho, Mario
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
dc.subject.none.fl_str_mv AERIAL VEHICLES
PLANAR HOMOGRAPHY
UNDERACTUATED MACHINES
NONLINEAR CONTROL
topic AERIAL VEHICLES
PLANAR HOMOGRAPHY
UNDERACTUATED MACHINES
NONLINEAR CONTROL
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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.
Fil: Brandão, Alexandre . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Fil: Sarapura, Jorge Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina
Fil: Sarcinelli Filho, Mario . Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina. Universidad Nacional de San Juan; Argentina
description 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.
publishDate 2013
dc.date.none.fl_str_mv 2013-12
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/10946
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
0327-0793
1851-8796
url http://hdl.handle.net/11336/10946
identifier_str_mv 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
0327-0793
1851-8796
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.laar.uns.edu.ar/indexes/artic_v4303/Vol43_03_281.pdf
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Plapiqui
publisher.none.fl_str_mv Plapiqui
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1842980931929899008
score 12.993085

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