Image-based visual PID control of a micro helicopter using a stationary camera

Kei Watanabe, Yuta Yoshihata, Yasushi Iwatani, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

This paper proposes an image-based visual servo control method for a micro helicopter. The helicopter does not have any sensors to measure its position or posture on the body. A stationary camera is placed on the ground, and it obtains image features of the helicopter. The differences between current features and given reference features are computed. PID controllers then make control input voltages for helicopter control, and they drive the helicopter. The proposed controller can avoid some major difficulties in computer vision such as numerical instability due to image noises or model uncertainties, since the reference is defined in the image frames. An experimental result demonstrates that the proposed controller can keep the helicopter in a stable hover.

Original languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages3001-3006
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: 2007 Sep 172007 Sep 20

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period07/9/1707/9/20

Keywords

  • Micro aerial vehicle
  • PID control
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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