Advertisement

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)

Abstract

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.

Keywords

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.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Chesi, G., Hashimoto, K.: Configuration and robustness in visual servo. Journal of Robotics and Mechatronics 16(2), 178–185 (2004)Google Scholar
  2. 2.
    Iwatani, Y., Watanebe, K., Hashimoto, K.: Image feature extraction with occlusion handling for visual servo control. In: IEEE International Conference on Robotics and Automation (2008)Google Scholar
  3. 3.
    Ludington, B., Johnson, E., Vachtsevanos, G.: Augmenting UAV autonomy: vision-based navigation and target tracking for unmanned aerial vehicles. IEEE Robotics & Automation Magazine 13(3), 63–71 (2006)CrossRefGoogle Scholar
  4. 4.
    Merino, L., Wiklund, J., Caballero, F., Moe, A., Dios, J., Forssén, P., Nordberg, K., Ollero, A.: Vision-based multi-UAV position estimation: Localization based on blob features for exploration missions. IEEE Robotics & Automation Magazine 13(3), 53–62 (2006)CrossRefGoogle Scholar
  5. 5.
    Ruffier, F., Franceschini, N.: Visually guided micro-aerial vehicle: automatic take off, terrain following, landing and wind reaction. In: IEEE International Conference on Robotics and Automation (2004)Google Scholar
  6. 6.
    Saripalli, S., Montgomery, J.F., Sukhatme, G.S.: Visually-guided landing of an unmanned aerial vehicle. IEEE Trans. on Robotics and Automation 19(3), 371–381 (2003)CrossRefGoogle Scholar
  7. 7.
    Shakernia, O., Sharp, C.S., Vidal, R., Shim, D.H., Ma, Y., Sastry, S.: Multiple view motion estimation and control for landing an unmanned aerial vehicle. In: IEEE International Conference on Robotics and Automation (2002)Google Scholar
  8. 8.
    Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control. Wiley, Chichester (2005)Google Scholar
  9. 9.
    Watanabe, K., Yoshihata, Y., Iwatani, Y., Hashimoto, K.: Image-based visual PID control of a micro helicopter using a stationary camera. Advanced Robotics 22(2-3), 381–393 (2008)CrossRefGoogle Scholar

Copyright information

© Springer London 2010

Authors and Affiliations

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

Personalised recommendations