Abstract
In this paper, a vision-based stabilization and output tracking control method for a four-rotor helicopter has been proposed. A novel 2 camera method has been described for estimating the full 6 DOF pose of the helicopter This two camera system is consisting of a pan-tilt ground camera and an onboard camera. The pose estimation algorithm is compared in simulation to other methods (such as four point method, and a stereo method) and is shown to be less sensitive to feature detection errors on the image plane. The proposed pose estimation algorithm and nonlinear control techniques have been implemented on a remote controlled quadrotor helicopter.
| Original language | English |
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| Pages (from-to) | 4294-4299 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 2003 |
| Externally published | Yes |
| Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 14 Sept 2003 → 19 Sept 2003 |