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Vision Based Control of Model Helicopters

Erdinc AltugCamillo J. TaylorJames P. Ostrowski

出版	INTECH Open Access Publisher, 2006
主題	Technology & Engineering / Automation
ISBN	386611284X9783866112841
URL	http://books.google.com.hk/books?id=6tmboAEACAAJ&hl=&source=gbs_api

註釋

In this work, we have presented pose estimation algorithms and non-linear control techniques to build and control autonomous helicopters. We introduce a novel twocamera method for helicopter pose estimation. The method has been compared to other pose estimation algorithms and shown to be more effective, especially when there are errors on the image plane. A three dimensional quadrotor rotorcraft model has been developed. Nonlinear backstepping and PD controllers have been used to stabilize and.