Vision-based guidance control of a small-scale unmanned helicopter

This paper describes vision-based guidance control of a small-scale unmanned helicopter. In previous research, helicopters were usually controlled by sensors such as GPSs and gyros. However, it is difficult to mount those sensors on small- scale helicopters that have little payload. Accordingly, small lightweight cameras were used to control the helicopter in this research. The applications of the cameras are for observation of the environment and the measurement of the position and attitude of the helicopter. The system of mounted cameras on the helicopter is useful for an indoor surveillance system using the helicopter as a mobile camera. The efficacy of the constructed system was verified through experimentation of automatic hovering control and guidance control.