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Autonomous indoor navigation of a UAV : single image based.

Abstract : This thesis presents the design and practical implementation of aquadrotor indoor navigation system using a vision system whose inputdata are obtained from environment information acquired by an embedded camera placed on quadrotor system. Actually, some used techniquesare mono vision, stereo vision, SLAM among others. For our researchwe propose to work with mono vision system, due the limited payload ofa quadrotor system. Properties in image perspective are used to designthe embedded vision system which aim is to extract visual information,to fly placed always in the center of a corridor. Camera rotation matrix is obtained by means of orthogonal directions extracted by vanishingpoints, which directions define a common structured environment. Then,to control and to stabilize our quadrotor system, a quaternion boundedcontrol scheme is presented, which stabilize quadrotor’s orientation, andalso is used to control its heading direction merging visual information.Quadrotor estimation positions with respect to world reference in y andz-axes are used as input for the bounded position control to pose it atdesired position. It should be mentioned that vision strategy is not ableto estimate x-axis, thus this axis is controlled manually.In order to corroborate ours results, mathematical model, control lawand vision system are simulated to corroborate the closed-loop system’sstability and for test our result in real world some platforms have beendeveloped, proposing a new quasi-virtual system that merge virtual worldwith real platform.
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  • HAL Id : tel-02482701, version 2

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Jose Juan Tellez Guzman. Autonomous indoor navigation of a UAV : single image based.. Automatic Control Engineering. Université Grenoble Alpes, 2019. English. ⟨NNT : 2019GREAT034⟩. ⟨tel-02482701v2⟩

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