Multi-Jurisdiction Recalls Future of Co-operation And Inter-Agency Recalls.
Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.
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Transcript of Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.
![Page 1: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/1.jpg)
Flexible Vision-based controlof a 6DOF quadrotor
Chayatat RatanasawanyaMay 18, 2011
![Page 2: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/2.jpg)
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OverviewRecallsProgress & AchievementResults
![Page 3: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/3.jpg)
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Recall…Develop a flexible human/machine control
system to hover an UAV (6-DOF helicopter) carrying a VDO camera beside an object of interest; e.g. a window.
Method: Human control – Joystick Machine control – Visual-servoing
![Page 4: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/4.jpg)
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Recall…Quanser provided height(Y), X&Z position,
and yaw controllersMap image info to positional infoPOSIT algorithmTarget object
![Page 5: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/5.jpg)
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SuccessfullyHeight is always control by sonar feedbackFlexible human/machine control
QballPID
IMURoll,
PitchOptitrack
Magnetometer
X*, Z*
Yaw*
Single Camera
In-flight modifiable
LQR
Roll*, Pitch*
![Page 6: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/6.jpg)
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Reference case: OptitrackVDO
![Page 7: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/7.jpg)
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Reference case: Optitrack0.02
-0.13
0.29
-0.01
15.5⁰
-5.5⁰
![Page 8: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/8.jpg)
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Result: Flexible controlVDO
![Page 9: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/9.jpg)
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Result: Flexible control0.7
0.3
2.3
2.0
9⁰
-5⁰
![Page 10: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/10.jpg)
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Result: Multiple targetsVDO
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Result: Multiple targets0.7
0.3
2.3
2.0
9⁰
-5⁰
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ConclusionImage information is mapped to positional
control inputs via POSIT algorithmResult is position-based visual servoingError is defined in object frame; NOT world
frameAchieved human-machine control flexibility Able to change desired X, Z, Yaw positions in
flightAble to hover in front of multiple targets (one
at a time). Model of each target must be known.
![Page 13: Chayatat Ratanasawanya May 18, 2011. Overview Recalls Progress & Achievement Results 2.](https://reader033.fdocuments.in/reader033/viewer/2022052406/5a4d1b5a7f8b9ab0599aae85/html5/thumbnails/13.jpg)
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Questions?