University of Twente Student Theses


Collaborative position control of an UAV using vision and IMU data

Hoogervorst, R.W.P. (2015) Collaborative position control of an UAV using vision and IMU data.

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Abstract:Pose estimation for UAVs is usually done using internal sensors. Often a filter is used to combine different sensors, e.g. a camera on the UAV and its IMU. However, sensors on the UAV have limitations. For instance the camera on the UAV needs to detect keypoints, which might not always be available in real-life applications. Therefore it is investigated if the use of an external UAV can aid in the pose estimation of the drone. The camera fromthe externalUAVwill detect the pose of amarker on themainUAV. This vision measurement and the IMU fromthe mainUAV are fused using a Kalman Filter to provide a reliable pose estimation. Using this pose estimation, control experiments are performed to validate if the UAV can be controlled using this estimate. Results show that this is possible, first when the external UAV is at a fixed position and also when the external UAV is flying next to the main UAV. The control performance decreases during a simultaneous flight, but control is still possible. A limitation is that the UAV needs to stay in view of the camera, otherwise there is a chance of the UAV moving out of vision, causing it to drift off and crash.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
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