6. The experimental results
The complete system (illustrated in Fig. 2) was evaluated
by two-part experiment. The first part of the experiment was
focused on the quadrocopter responses during the reference-point
changes. From the initial position at (0 cm, 0 cm, 70 cm) in the
T coordinate system, the quadrocopter was instructed to move
to the position (0 cm, −30 cm, 80 cm) and then return to the
starting position. The move was made twice and the results are shown in Fig. 10. The results indicate that the quadrocopter keeps
its instructed position with minimal oscillations. Due to the small
room where the tests were executed, a strong draft starts to form
during the experiment. This draft results in a slight offset in the
vertical position during the second half of the maneuvers.
The second part of the experiment mainly displays the
quadrocopter robustness to a short-term loss of video-camera data.
The quadrocopter is first put into autonomous hovering mode, in
the moments t1 = 51 s, t2 = 55 s and t3 = 78 s it is pushed
out of the reference position by hand. Although the video-camera
loses the target out of the view (illustrated by the red background
in Fig. 11), the quadrocopter returns to the reference position and
continues hovering.
6. The experimental resultsThe complete system (illustrated in Fig. 2) was evaluatedby two-part experiment. The first part of the experiment wasfocused on the quadrocopter responses during the reference-pointchanges. From the initial position at (0 cm, 0 cm, 70 cm) in theT coordinate system, the quadrocopter was instructed to moveto the position (0 cm, −30 cm, 80 cm) and then return to thestarting position. The move was made twice and the results are shown in Fig. 10. The results indicate that the quadrocopter keepsits instructed position with minimal oscillations. Due to the smallroom where the tests were executed, a strong draft starts to formduring the experiment. This draft results in a slight offset in thevertical position during the second half of the maneuvers.The second part of the experiment mainly displays thequadrocopter robustness to a short-term loss of video-camera data.The quadrocopter is first put into autonomous hovering mode, inthe moments t1 = 51 s, t2 = 55 s and t3 = 78 s it is pushedout of the reference position by hand. Although the video-cameraloses the target out of the view (illustrated by the red backgroundin Fig. 11), the quadrocopter returns to the reference position andcontinues hovering.
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6. The experimental results
The complete system (illustrated in Fig. 2) was evaluated
by two-part experiment. The first part of the experiment was
focused on the quadrocopter responses during the reference-point
changes. From the initial position at (0 cm, 0 cm, 70 cm) in the
T coordinate system, the quadrocopter was instructed to move
to the position (0 cm, −30 cm, 80 cm) and then return to the
starting position. The move was made twice and the results are shown in Fig. 10. The results indicate that the quadrocopter keeps
its instructed position with minimal oscillations. Due to the small
room where the tests were executed, a strong draft starts to form
during the experiment. This draft results in a slight offset in the
vertical position during the second half of the maneuvers.
The second part of the experiment mainly displays the
quadrocopter robustness to a short-term loss of video-camera data.
The quadrocopter is first put into autonomous hovering mode, in
the moments t1 = 51 s, t2 = 55 s and t3 = 78 s it is pushed
out of the reference position by hand. Although the video-camera
loses the target out of the view (illustrated by the red background
in Fig. 11), the quadrocopter returns to the reference position and
continues hovering.
การแปล กรุณารอสักครู่..
