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Visual Control

State estimation for the path-Following of visual unmanned ground systems

An state estimator for the path-Following control problem of unmanned car-like visual systems was developed. This state estimator is composed by five modules each one with a different mission.

 

Multirotor 3D trajectory following in GPS-denied environments

Our current multirotor controller architecture is able to perform trajectory following in indoors GPS-denied environments using a data fusion approach using measurements from the IMU, ultrasound sensors, multiple cameras and a laser range finder. The shown work is the result of multiple research stages on multirotor modeling and identification, implementation of an Extended Kalman Filter and the development of the speed planning and trajectory controller software.

 

Our current multirotor controller architecture is able to perform trajectory following in indoors GPS-denied environments using a data fusion approach using measurements from the IMU, ultrasound sensors, multiple cameras and a laser range finder. The shown work is the result of multiple research stages on multirotor modeling and identification, implementation of an Extended Kalman Filter and the development of the speed planning and trajectory controller software.

Partial Autonomous Vision-Based Fuzzy Control Guided Car

This is a low cost approach of a partial autonomous car. We use just visual information to guide a commercial car following a line. The camera is installed inside a metal box in front of the car to have the illumination controlled. The reduced visual field is 30 x 50 cm. The system reach inner-city speeds of 50kph in straight and 25 in curves.