Paper Info
Title
Machine Vision System Errors For Unmanned Aerial Vehicle Navigation
Abstract
The use of laser scanners as machine vision systems in Unmanned Aerial Vehicle (UAV) navigation offers a wide range of advantages, when compared with camera-based systems. As one advantage, the measurement of real physical distances can be mentioned, which results in a reduction of measurement times and thereby fast image processing of the UAV surrounding medium. In previous work, a novel laser scanner namely Technical Vision System (TVS) was presented, which implements a continuous laser scan for determination of 3D coordinates of any object under observation. Also previous work has shown the advantage, when using high-quality instead of low-quality DC motors as actuators for positioning the laser ray in the TVS field-of-view. However, the static friction in the ball bearings of the motor shaft leads to a residual error not zero for the angular error in steady state. Present paper introduces a new approach of estimating this residual error by use of a friction model. Thereby, the friction model is described and used for simulation of the residual angular error when controlling the DC motor in openloop configuration and validated by experimentation results.
Year
Venue
Field
2017
2017 IEEE 26TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE)
Torque,Machine vision,Control theory,Image processing,DC motor,Control engineering,Artificial intelligence,Computer vision,Residual,Laser scanning,Simulation,Laser,Engineering,Actuator
DocType
ISSN
Citations 
Conference
2163-5137
0
PageRank 
References 
Authors
0.34
1
10
Name
Order
Citations
PageRank
Lindner, L.1158.50
Oleg Sergiyenko25522.62
Moises Rivas-Lopez3258.74
Mykhailo Ivanov400.68
Julio C. Rodríguez-Quiñonez53613.67
Daniel Hernandez-Balbuena62210.95
Wendy Flores-Fuentes72711.47
Vera Tyrsa83211.89
fabian n murrietarico986.26
Paolo Mercorelli106430.42