Abstract In this paper, we propose a the image-based automatic flight co ntrol system for the mini drone. Automatic flight system with a camera on the ceiling and marker s on the floor and landing position is designed in an indoor environment. Images from the ceiling c amera is used not only to recognize the makers and landing position but also to track the drone mot ion. PC sever identifies the locationof the drone and sends control commands to the mini drone. Flig ht controller of the mini drone isdesigned using state-machine algorithm, PID control and way-point position control method. From the , The proposed automatic flight control system is verified through the experiments of the mini drone. We see that known makers in environment are recognized a nd the drone can follows the trajectories with the specific ㄱ, ㄷ and ㅁ shapes. Also, experim ental results show that the dronecan approach and correctly land on the target positions which are set at different height.Key Words : Mini Drone, Image-Based Control, Indoor Automatic Flight, Automatic LandingReceived: Nov. 22, 2015Revised : Dec. 10, 2015Accepted: Dec. 16, 2015
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