Stabilzation Position of Quadcopter Using Vision-Based Corner Detector from Top-Down Footage of Camera

Các tác giả

  • Minh Tam Nguyen HCMC University of Technology and Education, Vietnam
  • My Ha Le HCMC University of Technology and Education, Vietnam
  • Anh Khoa Vo HCMC University of Technology and Education, Vietnam
  • Vi Do Tran HCMC University of Technology and Education, Vietnam
  • Van Phong Vu HCMC University of Technology and Education, Vietnam
  • Van Thuyen Ngo HCMC University of Technology and Education, Vietnam
  • Van Dong Hai Nguyen Ho Chi Minh city University of Technology and Education

Email tác giả liên hệ:

hainvd@hcmute.edu.vn

DOI:

https://doi.org/10.54644/jte.71A.2022.1132

Từ khóa:

features extraction, feature tracking, optical flow, quadcopter, cascade PID

Tóm tắt

Quadcopter is a kind of robot which is popularly used in both academic and industrial environment. In this paper, we present and implement a method to stabilize a quadcopter prototype’s position using feature extraction and tracking from camera footage. The quadcopter's position and linear velocity are determined from images which are captured by a downward-facing camera - Logitech C270. First, Shi-Tomasi technique is used to detect corners in the images and from this method, displacement of the quadcopter is yielded. Linear velocity is then calculated by using the quadcopter’s displacement. Once the linear velocity of the quadcopter has been estimated, the cascade PID controller is proposed to stabilize the hovering quadcopter’s position. Simulation results prove the ability of controlller on Matlab/Simulink. Then, a real quadcopter prototype is built to evaluate the proposed method and the experimental results recording in approximately 70 seconds show that the quadcopter remained its position with minimal error.

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Tiểu sử của Tác giả

Minh Tam Nguyen, HCMC University of Technology and Education, Vietnam

Nguyen Minh Tam was born in Ben Tre province, Vietnam. He received the Ph.D. degree in Engineering Science from the University of Technology, Sydney, Australia in 2010. His research interests include system modeling, intelligent and robust control, soft-computing, and power system control.

My Ha Le, HCMC University of Technology and Education, Vietnam

Le My Ha currently works at the Faculty of Electrical and Electronic, University of Technology and Education Ho Chi Minh, Vietnam. He received the PhD in electrical and computer engineering from the University of Ulsan, Ulsan, South Korea, in 2013. His research interests include multiple view geometry, pattern recognition, and intelligent systems.

Anh Khoa Vo, HCMC University of Technology and Education, Vietnam

Vo Anh Khoa was born in Vietnam. He received the Bachelor degree in Automation and Control from Ho Chi Minh city university of technology and Education (HCMUTE). He haved worked for Borsch company in Ho chi Minh city. His interests of research are system modeling, intelligent and robust control, soft-computing, and power system control

Vi Do Tran, HCMC University of Technology and Education, Vietnam

Tran Vi Do received the Master degree in Electrical Engineering from the HCM University of Technology and Education, Vietnam, in 2015. He received the PhD in BioRobotics at the BioRobotics Institute, Scuola Superiore Sant’Anna in Pisa, Italy in 2018. His research interests are in the fields of rehabilitation robotics, assistive technologies and human-robot interaction. From December 2018 until now, he work as a lecturer at the HCM University of Technology and Education, Vietnam..

Van Phong Vu, HCMC University of Technology and Education, Vietnam

Vu Van Phong currently works at the Faculty of Electrical and Electronic, University of Technology and Education Ho Chi Minh. He received the B.S. degree in electrical engineering from Ha Noi University of Sciences and Technology, Vietnam in 2007; the M.S. degree in electrical engineering from Southern Taiwan University of Sciences and Technology in 2010, and the Ph.D. degree in electrical engineering from National Central University, Taiwan in 2017. Since 2012, he has been a lecturer at Ho Chi Minh City University of Education and Technology, Vietnam. He is a postdoc in electrical engineering at National Central University from Nov-2017 to July-2018. His research interests are fuzzy systems, intelligent control, observer and controller design for uncertain system.

Van Thuyen Ngo, HCMC University of Technology and Education, Vietnam

Ngo Van Thuyen currently works at University of Technology and Education Ho Chi Minh as Chairman of the board . He received the Ph.D. degree in automation and control engineering from University of Technology Sydney (UTS), Australia in 2008. He was recognized as an Associate Professor by the State Council for Professorship in 2018. His research interests are fuzzy systems, intelligent control, observer and controller design for uncertain system, automation in industrial, SCADA.

Van Dong Hai Nguyen, Ho Chi Minh city University of Technology and Education

Nguyen Van Dong Hai currently works at the Faculty of Electrical and Electronic, University of Technology and Education Ho Chi Minh. He received the B.S. degree in automation and control engineering from Ho Chi Minh University of Technology, Vietnam in 2009; the M.S. degree in automation and control engineering from Ho Chi Minh University of Technology, Vietnam in 2011, and the Ph.D. degree in automation and control engineering from University of Craiova, Rumani in 2018. Since 2012, he has been a lecturer at Ho Chi Minh City University of Education and Technology, Vietnam. His research interests are fuzzy systems, intelligent control, observer and controller design for uncertain system.

Tài liệu tham khảo

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Tải xuống

Đã Xuất bản

2022-08-30

Cách trích dẫn

[1]
M. T. . Nguyen, “Stabilzation Position of Quadcopter Using Vision-Based Corner Detector from Top-Down Footage of Camera”, JTE, vol 17, số p.h 4, tr 18–27, tháng 8 2022.

Số

T. 17 S. 4 (2022)

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