A Pan-Tilt Camera Control System of Subminiature Robot Helicopter Visual Landing Based on Biomimetic Eye

Author

Li, Hengyu ; Luo, Jun ; Xie, Shaorong ; Wang, Tao ; Liu, Rui

Author_Institution

Sch. of Mech. Eng. & Autom., Shanghai Univ., Shanghai, China

Volume

1

fYear

2009

fDate

11-12 April 2009

Firstpage

757

Lastpage

762

Abstract

Firstly, based on the principle of binocular vergence eye movements ,a new type of method about field fixed point landing of the Subminiature robot helicopter is put forward. Secondly, according to oculomotor neural pathways, the oculomotor control system model is established. Then the control model of SHR landing system is discussed in detail. Some key problems about the control system are stressed in this paper. Finally, the simulation and experimental results show that the control system can realize binocular vergence movements. Compared with the conventional landing methods, this new one can eliminate blind and reduce loss.

Keywords

aerospace robotics; biomimetics; eye; helicopters; SHR landing system; binocular vergence eye movements; binocular vergence movements; biomimetic eye; field fixed point landing; oculomotor control system model; oculomotor neural pathways; pan-tilt camera control system; subminiature robot helicopter visual landing; Automatic control; Biomimetics; Cameras; Control system synthesis; Control systems; Helicopters; Military aircraft; Robot vision systems; Robotics and automation; Visual system; biomimetic eyes; landing method; oculomotor control; subminiature robot helicopter; vergence eye movement;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation, 2009. ICMTMA '09. International Conference on

Conference_Location

Zhangjiajie, Hunan

Print_ISBN

978-0-7695-3583-8

Type

conf

DOI

10.1109/ICMTMA.2009.222

Filename

5203082