Chayatat Ratanasawanya May 18, 2011

Overview Recalls Progress & Achievement Results 2

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 3

Recall… Quanser provided height(Y), X&Z position, and yaw controllers Map image info to positional info POSIT algorithm Target object 4

Successfully Height is always control by sonar feedback Flexible human/machine control 5 Qball PID IMU Roll, Pitch Optitrack Magnetometer X*, Z* Yaw* Single Camera In-flight modifiable LQR Roll*, Pitch*

Reference case: Optitrack 6 VDO

Reference case: Optitrack ⁰ -5.5⁰

Result: Flexible control VDO 8

Result: Flexible control ⁰9⁰ -5⁰

Result: Multiple targets VDO 10

Result: Multiple targets ⁰9⁰ -5⁰

Conclusion Image information is mapped to positional control inputs via POSIT algorithm Result is position-based visual servoing Error is defined in object frame; NOT world frame Achieved human-machine control flexibility Able to change desired X, Z, Yaw positions in flight Able to hover in front of multiple targets (one at a time). Model of each target must be known. 12

Questions? 13