TY - JOUR
T1 - Computer vision-based control of an autonomous blimp
AU - Bekiroǧlu, Korkut
AU - Sznaier, Mario
AU - Lagoa, Constantino
AU - Shafai, Bahram
N1 - Publisher Copyright:
© 2016 TÜBİTAK.
PY - 2016
Y1 - 2016
N2 - The objective of this study is twofold: to approximate a model of a blimp, and to use this model to develop a setup to track a target with the blimp that is outfitted with a wireless camera and radio-controlled propellers. This article presents a powerful method to track any moving or stationary target with an unmanned aerial vehicle by combining the advantages of the proportional derivative (PD) controller, continuously adaptive mean shift (Camshift) algorithm, and pulse width modulation (PWM) method. As a result, it is demonstrated that a decent approximation of blimp behavior is sufficient when using a mathematical model that contains saturation in velocity and actuation. Additionally, a code for the proposed algorithm is developed to capture every frame sample with a frame grabber as a sensor in real time. Once the previously chosen object is tracked, the coordinate data (location information) are transferred to the controller to apply required pulses to DC motors on the blimp. In this paper, the proposed controller is outlined in two steps. Initially, one calculates a PD controller that fulfills the specifications of the mathematical model without saturation. Secondly, PWM is utilized to address the impact of nonlinearities.
AB - The objective of this study is twofold: to approximate a model of a blimp, and to use this model to develop a setup to track a target with the blimp that is outfitted with a wireless camera and radio-controlled propellers. This article presents a powerful method to track any moving or stationary target with an unmanned aerial vehicle by combining the advantages of the proportional derivative (PD) controller, continuously adaptive mean shift (Camshift) algorithm, and pulse width modulation (PWM) method. As a result, it is demonstrated that a decent approximation of blimp behavior is sufficient when using a mathematical model that contains saturation in velocity and actuation. Additionally, a code for the proposed algorithm is developed to capture every frame sample with a frame grabber as a sensor in real time. Once the previously chosen object is tracked, the coordinate data (location information) are transferred to the controller to apply required pulses to DC motors on the blimp. In this paper, the proposed controller is outlined in two steps. Initially, one calculates a PD controller that fulfills the specifications of the mathematical model without saturation. Secondly, PWM is utilized to address the impact of nonlinearities.
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U2 - 10.3906/elk-1501-162
DO - 10.3906/elk-1501-162
M3 - Article
AN - SCOPUS:84978239592
SN - 1300-0632
VL - 24
SP - 4015
EP - 4026
JO - Turkish Journal of Electrical Engineering and Computer Sciences
JF - Turkish Journal of Electrical Engineering and Computer Sciences
IS - 5
ER -