Title :
Vision based flight control of 3-DOF helicopter
Author :
Li Shuailing ; Liu Hao ; Shi Zongying ; Zhong Yisheng
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
Abstract :
In this paper, a new solution to the flight control problem of a 3-degree of freedom (DOF) helicopter is presented. The sensor required is only an onboard monocular camera, but any artificial marker is not required. Firstly, the proposed approach employs the parallel tracking and mapping (PTAM), a technique of visual simultaneous localization and mapping (vSLAM), to estimate the attitude angles of the 3-DOF helicopter. Then the nonlinear optimization technique is applied to solve the puzzle, calibration of the relative attitude angles between the onboard camera and helicopter coordinates. Finally, in order to alleviate the influence of nonlinearity, a controller incorporating the feedback linearization (FL) and linear quadratic regulation (LQR) techniques is designed. Experimental results on the laboratory helicopter demonstrate the effectiveness of the proposed technique.
Keywords :
SLAM (robots); aerospace robotics; aircraft control; cameras; control system synthesis; feedback; helicopters; linear quadratic control; linearisation techniques; nonlinear programming; robot vision; 3-degree of freedom; 3DOF helicopter; FL; LQR techniques; PTAM; attitude angle estimation; feedback linearization; helicopter coordinates; laboratory helicopter; linear quadratic regulation techniques; nonlinear optimization technique; onboard monocular camera; parallel tracking and mapping; puzzle; relative attitude angle calibration; sensor; vSLAM technique; vision based flight control problem; visual simultaneous localization and mapping technique; Calibration; Cameras; Equations; Helicopters; Mathematical model; Optimization; Trajectory; PTAM; linear quadratic regulation; trajectory tracking; unmanned micro aerial vehicles;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
