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Sensors 2017, 17(8), 1865;

Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Blvd. Marcelino García Barragán 1421, Guadalajara C.P. 44430, Jalisco, Mexico
Avenida Revolución 1500 Modulo “R”, Colonia Universitaria, Guadalajara C.P. 44430, Jalisco, Mexico
Author to whom correspondence should be addressed.
Received: 1 July 2017 / Revised: 4 August 2017 / Accepted: 10 August 2017 / Published: 12 August 2017
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In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. View Full-Text
Keywords: unmanned aerial vehicle; hexarotor; visual servoing unmanned aerial vehicle; hexarotor; visual servoing

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Lopez-Franco, C.; Gomez-Avila, J.; Alanis, A.Y.; Arana-Daniel, N.; Villaseñor, C. Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller. Sensors 2017, 17, 1865.

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