An Improved Formation Control Algorithm in Vicon 3D Motion Capture System

被引：0
|
作者：
Tang, Qiu [1 ]
Cai, Chenxiao [1 ]
Ma, Lei [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Nanjing 210094, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF THE 2016 INTERNATIONAL CONFERENCE ON ENERGY, POWER AND ELECTRICAL ENGINEERING | 2016年 / 56卷
关键词：
quadrotor; PD algorithm; circular formation; sliding mode control; leader-follower; TRACKING;
D O I：
暂无
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
In this paper, an improved leader-follower configuration control algorithm is proposed to solve the formation problem in Vicon 3D motion capture system. Firstly, an appropriate velocity filter with weight is designed and the acceleration gain matrix is reconstructed to reduce noise and oscillations caused by velocity and acceleration computed by discrete position. Secondly, using Sliding Model Control (SMC) for formation, damping parameters are added to the signal of tracking control for each single quadrotor. Thirdly, formation flight with two quadrotors is carried out. Finally, the experiment results show the feasible and effectiveness.
引用
收藏
页码：268 / 273
页数：6
相关论文
共 50 条
  • [1] 3D Human Motion Information Extraction Based on Vicon Motion Capture in Internet of Things
    Liu, Ze-guo
    ADVANCED HYBRID INFORMATION PROCESSING, ADHIP 2019, PT I, 2019, 301 : 374 - 382
  • [2] New system for 3D motion capture
    Mahoney, DP
    COMPUTER GRAPHICS WORLD, 1996, 19 (01) : 19 - 20
  • [3] Markerless 3D Facial Motion Capture System
    Hwang, Youngkyoo
    Kim, Jung-Bae
    Feng, Xuetao
    Bang, Won-Chul
    Rhee, Taehyun
    Kim, James D. K.
    Kim, ChangYeong
    ENGINEERING REALITY OF VIRTUAL REALITY 2012, 2012, 8289
  • [4] Comparative accuracy of a shoulder range motion measurement sensor and Vicon 3D motion capture for shoulder abduction in frozen shoulder
    Park, Chanhee
    An, Yeongsang
    Yoon, Hyunsik
    Park, Ilbong
    Kim, Kyoungtae
    Kim, Chungyoo
    Cha, Youngjoo
    TECHNOLOGY AND HEALTH CARE, 2022, 30 : S251 - S257
  • [5] Motion capture for 3D databases -: Overview of methods for motion capture in 3D databases
    Lupinek, Dalibor
    Drahansky, Martin
    SIGMAP 2008: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING AND MULTIMEDIA APPLICATIONS, 2008, : 99 - 104
  • [6] The Design and Calibration of a 3D Motion Capture System for Arthropods
    Hoermann, Tobias J.
    Mills, Steven
    Paulin, Mike
    Reussenzehn, Stefan
    PROCEEDINGS OF 2013 28TH INTERNATIONAL CONFERENCE ON IMAGE AND VISION COMPUTING NEW ZEALAND (IVCNZ 2013), 2013, : 265 - 269
  • [7] Moving object detection algorithm and motion capture based on 3D LiDAR
    Jiang, Jian
    OPTICAL AND QUANTUM ELECTRONICS, 2024, 56 (04)
  • [8] A New Algorithm for Human Motion Capture via 3D Active Contours
    Wan, Chengkai
    Yuan, Baozong
    Miao, Zhenjiang
    ICDIP 2009: INTERNATIONAL CONFERENCE ON DIGITAL IMAGE PROCESSING, PROCEEDINGS, 2009, : 112 - 116
  • [9] A Technical Demonstration on Streamlining 3D Motion ProductionWorkflows with a Markerless Motion Capture System
    Guo, Mengyao
    Nie, Yu
    Gao, Ze
    PROCEEDINGS OF THE 16TH CONFERENCE ON CREATIVITY AND COGNITION, C&C 2024, 2024, : 566 - 570
  • [10] Application of the Improved particle Filter Algorithm to 3D Motion Analysis
    Deng, Huifang
    Chen, Fengzhe
    ISISE 2008: INTERNATIONAL SYMPOSIUM ON INFORMATION SCIENCE AND ENGINEERING, VOL 2, 2008, : 421 - +
12345