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Sensors 2017, 17(8), 1865; doi:10.3390/s17081865

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

1
Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Blvd. Marcelino García Barragán 1421, Guadalajara C.P. 44430, Jalisco, Mexico
2
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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Abstract

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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MDPI and ACS Style

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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