Abstract
This paper presents the architecture of a pan/tilt/roll camera control system implemented on the Georgia Tech's UAV research helicopter, the GTMax. The controller has currently three operating modes available: it can keep the camera at a fined angle with respect to the helicopter, make the camera point In the direction of the helicopter velocity vector, or track a specific location. The camera is mounted in a large, but relatively light gimbal. Each axis is driven by a modified servo, and optical encoders measure the gimbal orientation. A PID controller with anti-windup and derivative filtering was designed in Simulink based on simple models of the servos and later implemented on the real system. A discussion of results obtained from Hardware-In-The-Loop tests and fliglit tests is given at the end of the paper.
| Original language | English (US) |
|---|---|
| Title of host publication | Collection of Technical Papers - InfoTech at Aerospace |
| Subtitle of host publication | Advancing Contemporary Aerospace Technologies and Their Integration |
| Pages | 2170-2179 |
| Number of pages | 10 |
| Volume | 4 |
| State | Published - Dec 1 2005 |
| Event | InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration - Arlington, VA, United States Duration: Sep 26 2005 → Sep 29 2005 |
Other
| Other | InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration |
|---|---|
| Country | United States |
| City | Arlington, VA |
| Period | 9/26/05 → 9/29/05 |
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All Science Journal Classification (ASJC) codes
- Engineering(all)
Cite this
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Control architecture for a UAV-mounted pan/tilt/roll camera gimbal. / Jakobsen, Ole C.; Johnson, Eric.
Collection of Technical Papers - InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration. Vol. 4 2005. p. 2170-2179.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Control architecture for a UAV-mounted pan/tilt/roll camera gimbal
AU - Jakobsen, Ole C.
AU - Johnson, Eric
PY - 2005/12/1
Y1 - 2005/12/1
N2 - This paper presents the architecture of a pan/tilt/roll camera control system implemented on the Georgia Tech's UAV research helicopter, the GTMax. The controller has currently three operating modes available: it can keep the camera at a fined angle with respect to the helicopter, make the camera point In the direction of the helicopter velocity vector, or track a specific location. The camera is mounted in a large, but relatively light gimbal. Each axis is driven by a modified servo, and optical encoders measure the gimbal orientation. A PID controller with anti-windup and derivative filtering was designed in Simulink based on simple models of the servos and later implemented on the real system. A discussion of results obtained from Hardware-In-The-Loop tests and fliglit tests is given at the end of the paper.
AB - This paper presents the architecture of a pan/tilt/roll camera control system implemented on the Georgia Tech's UAV research helicopter, the GTMax. The controller has currently three operating modes available: it can keep the camera at a fined angle with respect to the helicopter, make the camera point In the direction of the helicopter velocity vector, or track a specific location. The camera is mounted in a large, but relatively light gimbal. Each axis is driven by a modified servo, and optical encoders measure the gimbal orientation. A PID controller with anti-windup and derivative filtering was designed in Simulink based on simple models of the servos and later implemented on the real system. A discussion of results obtained from Hardware-In-The-Loop tests and fliglit tests is given at the end of the paper.
UR - http://www.scopus.com/inward/record.url?scp=33748702531&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33748702531&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:33748702531
SN - 1563477394
SN - 9781563477393
VL - 4
SP - 2170
EP - 2179
BT - Collection of Technical Papers - InfoTech at Aerospace
ER -