Machine vision system errors for unmanned aerial vehicle navigation
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Standard
Proceedings: 2017 IEEE International Symposium on Industrial Electronics (ISIE). IEEE - Institute of Electrical and Electronics Engineers Inc., 2017. p. 1615-1620.
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Harvard
APA
Vancouver
Bibtex
}
RIS
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 -