Integration of a Vicon camera system for indoor flight of a Parrot AR Drone

Shaima Al Habsi, Maha Shehada, Marwah Abdoon, Ahmed Mashood, Hassan Noura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Citations (Scopus)

Abstract

The main objective of this project is to design and implement an indoor autonomous flight control for Unmanned Aerial Vehicle (UAV) of type Parrot AR Drone. Autonomous flight is achieved when the AR Drone is capable of following a predefined trajectory without any human interaction. For this purpose, a control algorithm for Parrot AR Drone designed by Mathworks under software Matlab\Simulink was used and enhanced. As a part of the control model development and enhancement, a Vicon Capture System consisting of a set of cameras was integrated in real time with the AR Drone Matlab\Simulink. Vicon Capture System was used to capture the position of AR Drone and compare it with the estimated position obtained from AR Drone on-board sensors. It was noticed that the Vicon cameras' position estimation was closer to the real position than the sensors' estimation.

Original languageEnglish
Title of host publicationISMA 2015 - 10th International Symposium on Mechatronics and its Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781467377973
DOIs
Publication statusPublished - Jan 5 2016
Event10th International Symposium on Mechatronics and its Applications, ISMA 2015 - Sharjah, United Arab Emirates
Duration: Dec 8 2015Dec 10 2015

Publication series

NameISMA 2015 - 10th International Symposium on Mechatronics and its Applications

Other

Other10th International Symposium on Mechatronics and its Applications, ISMA 2015
Country/TerritoryUnited Arab Emirates
CitySharjah
Period12/8/1512/10/15

Keywords

  • Autonomous flight
  • Parrot ARDrone2.0
  • Simulink development kit
  • Vicon capturing system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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