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

Kei Watanabe, Yuta Yoshihata, Yasushi Iwatani, Koichi Hashimoto

研究成果: Article査読

18 被引用数 (Scopus)

抄録

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 noise 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.

本文言語English
ページ(範囲)381-393
ページ数13
ジャーナルAdvanced Robotics
22
2-3
DOI
出版ステータスPublished - 2008 3 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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