000			04443nam a22004095i 4500
001			287707
003			MX-SnUAN
005			20160429154558.0
007			cr nn 008mamaa
008			150903s2013 xxk| o |||| 0|eng d
020			_a9781447143994 _99781447143994
024	7		_a10.1007/9781447143994 _2doi
035			_avtls000339807
039		9	_a201509030840 _bVLOAD _c201404300405 _dVLOAD _y201402060944 _zstaff
040			_aMX-SnUAN _bspa _cMX-SnUAN _erda
050		4	_aTJ212-225
100	1		_aGarcía Carrillo, Luis Rodolfo. _eautor _9317038
245	1	0	_aQuad Rotorcraft Control : _bVision-Based Hovering and Navigation / _cby Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard.
264		1	_aLondon : _bSpringer London : _bImprint: Springer, _c2013.
300			_axIx, 179 páginas 117 ilustraciones, 74 ilustraciones en color. _brecurso en línea.
336			_atexto _btxt _2rdacontent
337			_acomputadora _bc _2rdamedia
338			_arecurso en línea _bcr _2rdacarrier
347			_aarchivo de texto _bPDF _2rda
490	0		_aAdvances in Industrial Control, _x1430-9491
500			_aSpringer eBooks
505	0		_aModeling the Quad-Rotor Mini-Rotorcraft -- The Quad-Rotor Experimental Platform -- Hovering Flight Improvement -- Imaging Sensors for State Estimation -- Vision-Based Control of a Quad-Rotor UAV -- Combining Sensing Systems for the Quad-Rotor.
520			_aQuad-Rotor Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use of low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text gives the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.
590			_aPara consulta fuera de la UANL se requiere clave de acceso remoto.
700	1		_aDzul López, Alejandro Enrique. _eautor _9317039
700	1		_aLozano, Rogelio. _eautor _9306493
700	1		_aPégard, Claude. _eautor _9317040
710	2		_aSpringerLink (Servicio en línea) _9299170
776	0	8	_iEdición impresa: _z9781447143987
856	4	0	_uhttp://remoto.dgb.uanl.mx/login?url=http://dx.doi.org/10.1007/978-1-4471-4399-4 _zConectar a Springer E-Books (Para consulta externa se requiere previa autentificación en Biblioteca Digital UANL)
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999			_c287707 _d287707