TY - CHAP

T1 - Machine vision system errors for unmanned aerial vehicle navigation

AU - Lindner, Lars

AU - Sergiyenko, Oleg

AU - Rivas-Lopez, Moises

AU - Ivanov, Mykhailo

AU - Rodriguez-Quinonez, Julio C.

AU - Hernandez-Balbuena, Daniel

AU - Flores-Fuentes, Wendy

AU - Tyrsa, Vera

AU - Muerrieta-Rico, Fabian N.

AU - Mercorelli, Paolo

N1 - Conference code: 26

PY - 2017/8/3

Y1 - 2017/8/3

N2 - The use of laser scanners as machine vision systems in Unmanned Aerial Vehicle (UAV) navigation offers a wide range of advantages, when compared with camera-based systems. As one advantage, the measurement of real physical distances can be mentioned, which results in a reduction of measurement times and thereby fast image processing of the UAV surrounding medium. In previous work, a novel laser scanner namely Technical Vision System (TVS) was presented, which implements a continuous laser scan for determination of 3D coordinates of any object under observation. Also previous work has shown the advantage, when using high-quality instead of low-quality DC motors as actuators for positioning the laser ray in the TVS field-of-view. However, the static friction in the ball bearings of the motor shaft leads to a residual error not zero for the angular error in steady state. Present paper introduces a new approach of estimating this residual error by use of a friction model. Thereby, the friction model is described and used for simulation of the residual angular error when controlling the DC motor in open-loop configuration and validated by experimentation results.

AB - The use of laser scanners as machine vision systems in Unmanned Aerial Vehicle (UAV) navigation offers a wide range of advantages, when compared with camera-based systems. As one advantage, the measurement of real physical distances can be mentioned, which results in a reduction of measurement times and thereby fast image processing of the UAV surrounding medium. In previous work, a novel laser scanner namely Technical Vision System (TVS) was presented, which implements a continuous laser scan for determination of 3D coordinates of any object under observation. Also previous work has shown the advantage, when using high-quality instead of low-quality DC motors as actuators for positioning the laser ray in the TVS field-of-view. However, the static friction in the ball bearings of the motor shaft leads to a residual error not zero for the angular error in steady state. Present paper introduces a new approach of estimating this residual error by use of a friction model. Thereby, the friction model is described and used for simulation of the residual angular error when controlling the DC motor in open-loop configuration and validated by experimentation results.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85029910500&partnerID=8YFLogxK

U2 - 10.1109/ISIE.2017.8001488

DO - 10.1109/ISIE.2017.8001488

M3 - Article in conference proceedings

AN - SCOPUS:85029910500

SP - 1615

EP - 1620

BT - Proceedings

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - International Symposium on Industrial Electronics - ISIE 2017

Y2 - 19 June 2017 through 21 June 2017

ER -