Abstract
In this paper, a complete solution for estimating the position of MAV is present, using measurements from Robot Operating System (ROS)package ‘ar_pose’ and an on-board camera taking images of AR markers. The open-source ROS is used to manage the communication with MAV, and detect markers in the image. The relation of coordinate system, based on the kinematics of robot, is given to estimate the MAV's position, and the theoretical basis for the subsequent attitude estimation method is provided. Combined with the position data and coordinate transformation, a target-tracking control law based on a PID logic controller is present. The proposed strategy is checked during test, convincing experimental results are presented. Experiment proves the strategy can effectively estimate the position of MAV and improve marker's recognition accuracy to meet the control requirements of PID controller.
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