Estabilización de un mini helicóptero de cuatro rotores basada en flujo óptico y sensores inerciales

Hugo Romero, Sergio Salazar, Juan Escareño, Rogelio Lozano

Resumen

En este artículo se presenta la estabilización de vuelo de un helicóptero con cuatro rotores utilizando transductores inerciales y la información visual de una cámara. La velocidad lineal, la velocidad de rotación del ángulo de guiñada así como la posición y velocidad del helicóptero son estimadas utilizando el flujo óptico en combinación con la medición de giroscopios. Se presentan los resultados experimentales satisfactorios del desempeño del helicóptero en tiempo real.

Palabras clave

Control de aeronaves; visión por computadora; navegación de robots

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Revista Iberoamericana de Automática e Informática Industrial RIAI  vol: 9  num.: 3  primera página: 300  año: 2012  
doi: 10.1016/j.riai.2012.05.014



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Universitat Politècnica de València     https://doi.org/10.4995/riai

e-ISSN: 1697-7920     ISSN: 1697-7912