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.
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Iwatani, Y., Watanabe, K., Hashimoto, K. (2010). Unmanned Helicopter Control via Visual Servoing with Occlusion Handling. In: Chesi, G., Hashimoto, K. (eds) Visual Servoing via Advanced Numerical Methods. Lecture Notes in Control and Information Sciences, vol 401. Springer, London. https://doi.org/10.1007/978-1-84996-089-2_19
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DOI: https://doi.org/10.1007/978-1-84996-089-2_19
Publisher Name: Springer, London
Print ISBN: 978-1-84996-088-5
Online ISBN: 978-1-84996-089-2
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