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基于单目视觉的微型空中机器人自主悬停控制

DOI: 10.13195/j.kzyjc.2013.0458, PP. 1501-1504

Keywords: 微型空中机器人,单目视觉,悬停控制,特征点跟踪,低雷诺数

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Abstract:

针对微型空中机器人在室内环境下无法借助外部定位系统实现自主悬停的问题,提出一种基于单目视觉的自主悬停控制方法.采用一种四成分特征点描述符和一个多级筛选器进行特征点跟踪.根据单目视觉运动学估计机器人水平位置;根据低雷诺数下的空气阻力估计机器人飞行速度;结合位置和速度信息对机器人进行悬停控制.实验结果验证了该方法的有效性.

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