Abstract
An on ground stereo vision system is used for autonomous hovering of a quad-rotor Micro Aerial Vehicle (MAV). A stereo vision system has advantage compared to a single camera that it can measure 3D position of an object from camera without any information about the target in advance. Therefore, the distance measurement can be conducted accurately. A weighted histogram CAMSHIFT is used for object tracking purpose. This algorithm uses color information as the feature of the object. A sliding mode controller is used for autonomous hovering of the quad-rotor. The sliding mode controller design is based on zero point of the system. Experiment on autonomous hovering using weighted histogram CAMSHIFT and sliding mode controller was conducted. The accuracy of the system achieved in autonomous hovering shows a good result which is about 0.4 m in the horizontal movement and 1 m in the vertical movement.
