Vision-based pose estimation and control of a model helicopter

In this paper, a vision system for pose estimation and stabilization control of a model helicopter has been proposed. This method consists of a pair of ground and onboard cameras, and it is used to estimate the full six degrees of freedom of the helicopter. The pose estimation algorithm is compared through simulation to some other feature based pose estimation methods and is shown to be less sensitive to feature detection errors. The proposed pose estimation algorithm and non-linear control techniques have been implemented on a remote controlled model helicopter.

[1]  Robert E. Mahony,et al.  Visual servo trajectory tracking for a four rotor VTOL aerial vehicle , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[2]  Robert E. Mahony,et al.  Control of a quadrotor helicopter using visual feedback , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[3]  S. Shankar Sastry,et al.  HIERARCHICAL CONTROL SYSTEM SYNTHESIS FOR ROTORCRAFT-BASED UNMANNED AERIAL VEHICLES , 2000 .

[4]  Hong Zhang.  Motion control for dynamic mobile robots , 2000 .

[5]  Bruno Sinopoli,et al.  Hybrid Control of an Autonomous Helicopter , 1998 .

[6]  Madieng Seck.  Optimal Motion From Image Sequences : A RiemannianViewpoint , 1998 .

[7]  Raymond W. Prouty,et al.  Helicopter performance, stability, and control , 1986 .

[8]  Omead Amidi,et al.  An autonomous vision-guided helicopter , 1996 .

[9]  S. Shankar Sastry,et al.  Nonlinear control design for slightly non-minimum phase systems: Application to V/STOL aircraft , 1992, Autom..

[10]  Robin R. Murphy,et al.  Marsupial-like mobile robot societies , 1999, AGENTS '99.

[11]  Vijay Kumar,et al.  Visual and haptic collaborative tele-presence , 2001, Comput. Graph..

[12]  R. Mahony,et al.  Visual servoing of a class of under-actuated dynamic rigid-body systems , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[13]  S. Sastry.  Nonlinear Systems: Analysis, Stability, and Control , 1999 .

[14]  Camillo J. Taylor,et al.  Quadrotor control using dual camera visual feedback , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[15]  S. Shankar Sastry,et al.  A vision system for landing an unmanned aerial vehicle , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).