Dp 497 en

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Visual servoing for a quadcopter flight control

Author: Podhradský Michal

Diplomové práce 2012

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In this thesis the potential of visual servoing techniques for vertical take-off and landing (VTOL) UAV platforms is explored. An overview of UAV applications and state-of-theart quadrotors is provided, backed up by the necessary theoretical background. Visual servoing based solutions of the important flight tasks (such as vertical take-off and landing, obstacle avoidance and attitude estimation) are presented. A novel vision based autopilot for vertical take-off and landing is developed, experimentally verified and implemented on a medium-size outdoor quadrotor platform provided by Dr. YangQuan Chen from Utah State University, Center for Self-Organizing Intelligent Systems.

Dp 2012 podhradsky michal.pdf