Fly-The-Camera Perspective Control of a Remotely Operated.pdf

8 Fly-The-Camera Perspective: Control of a Remotely Operated Quadrotor UAV and Camera Unit 1 1 1 2 DongBin Lee , Timothy C. Burg , Darren M. Dawson and Günther Dorn 1Clemson University, 2Hochschule Landshut 1 2 USA, Germany 1. Introduction This Chapter presents a mission-centric approach to controlling the optical axis of a video camera mounted on a camera positioner and fixed to a quadrotor remotely operated vehicle. The approach considers that for video collection tasks a single operator should be able to operate the system by ”flying-the-camera ”; that is, collect video data from the perspective that the operator is looking out of and is the pilot of the camera. This will allow the control of the quadrotor and the camera manipulator to be fused into single robot manipulator control problem where the camera is positioned using the four degree-of-freedom (DOF) quadrotor and the two DOF camera positioner to provide a full six DOF actuation of the camera view. Design of a closed-loop controller to implement this approach is demonstrated using a Lyapunov-type analysis. Computer simulation results are provided to demonstrate the suggested controller. Historically, the primary driver for UAV reconnaissance capabilities has been military applications; however, we appear to