Control of ardupilot quadrotor : Part III

• Main Author: Ko, Li Zhou.
• Other Authors: Wang Jianliang
• Format: Final Year Project
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: http://hdl.handle.net/10356/53346
• Institution: Nanyang Technological University

The basic principle for estimating the 3-dimensional parameters from a sequence of images comprises of two main problems. The first problem is the estimation of the moving object’s parameter. The second problem is generating the range information assuming the motion parameters are known. In this project, the primary focus is the perspective non-linear observer to solve the range identification problem. TLD (Tracking-Learning-Detection) and Identifier Based Observer (IBO) were chosen to solve the two problems respectively. TLD is an effective method to generate the image coordinates of the tracked object. IBO performance was responsive for simulations. However, when IBO was implemented for experiment, the performance differs. This might be due to the object moving speed and the limitations of the indoor environment.