Unmanned Helicopter Control via Visual Servoing with Occlusion Handling

  • Yasushi Iwatani
  • Kei Watanabe
  • Koichi Hashimoto
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 401)


This chapter presents an automatic take-off and landing system for an unmanned helicopter using visual servo control. Cameras are placed on the ground, and a static-eye configuration is set up. A vision-based control method with occlusion handling is implemented. The reference for the altitude in take-offs and landings is specialized to operate in ground effect. An experimental result demonstrates that the helicopter is controlled accurately.


Image Feature Unmanned Aerial Vehicle Proportional Integral Derivative Proportional Integral Derivative Control Extract Image Feature 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer London 2010

Authors and Affiliations

  • Yasushi Iwatani
    • 1
  • Kei Watanabe
    • 1
  • Koichi Hashimoto
    • 1
  1. 1.Tohoku UniversitySendaiJapan

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