Closed-Loop Motion Capture Feedback Control of Small-Scale Aerial Vehicles

Abstract

An approach is presented for closed-loop feedback control of autonomous and teleoperated aerial vehicles in a laboratory setting using off-the-shelf motion capture (MoCap)hardware. The system provides general purpose position feedback capabilities for use in the early development stages of UAVs and other robotic systems. Advantages of this system include increased accuracy, scalability, and robustness as compared to other methods of tracking and control for these types of vehicles. Implementation of the concept for motion control of indoor hovering vehicles is discussed.