An RC helicopter autonomous control system with single web camera

研究成果: Conference contribution

抄録

A simple vision based autonomous flight control system is developed in this paper to study the feedback control capability of a system using only one web camera as the sensor. The position and attitude estimation is achieved based on the homography. Markers are attached to a RC helicopter to simplify the image processing. The position of markers relative to the helicopter is used as a prior knowledge in the position and attitude estimation. The system uses a PD controller to autonomously control the flight of the helicopter. Hovering experiments have been carried out to test the visual feedback control system. The helicopter hovered at a point 0.6m above the origin of the world coordinate for about 20 seconds during the test with single web camera. The system is capable to autonomous hovering flight, however has problems like drift. Further study and improvement is needed in the future works.

本文言語English
ホスト出版物のタイトル2012 Proceedings of SICE Annual Conference, SICE 2012
出版社Society of Instrument and Control Engineers (SICE)
ページ2127-2132
ページ数6
ISBN(印刷版)9781467322591
出版ステータスPublished - 2012 1 1
イベント2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
継続期間: 2012 8 202012 8 23

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period12/8/2012/8/23

ASJC Scopus subject areas

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

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