Unmanned Helicopter Control via Visual Servoing with Occlusion Handling
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.
KeywordsImage Feature Unmanned Aerial Vehicle Proportional Integral Derivative Proportional Integral Derivative Control Extract Image Feature
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