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Vision processing and trajectory control algorithm of an autonomous lane keeping quadrotor drone
Do T. Tuan(도 딴 뚜안),Hoang C. Anh(훵 꽁 앙),Young G. Cho(조영광),Heejune Ahn(안희준) 대한전자공학회 2017 대한전자공학회 학술대회 Vol.2017 No.6
For autonomous flight and safety purpose, a lane-keeping quadrotor drone is developed and tested, based on open sources, APM (Ardupilot flight stack), OpenCV library, MAVProxy on a Pixhawk avionic and a Raspberry PI platform. The experiment results shows over 10 Hz control frequency at 640x480 video input can be achieved and two line segment method is enough for detecting curved line. However, the control algorithm using yaw angle only failed to keep in the lane due to the instability of drone control and wind disturbance, therefore 3-angle attitude control would be necessary for higher reliability.