Vision based flight control of 3-DOF helicopter

Shuailing Li; Hao Liu; Zongying Shi; Yisheng Zhong

Vision based flight control of 3-DOF helicopter

Shuailing Li
, Hao Liu
, Zongying Shi
, Yisheng Zhong

Tsinghua University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

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.

Original language	English
Title of host publication	Proceedings of the 32nd Chinese Control Conference, CCC 2013
Publisher	IEEE Computer Society
Pages	4342-4347
Number of pages	6
ISBN (Print)	9789881563835
State	Published - 18 Oct 2013
Externally published	Yes
Event	32nd Chinese Control Conference, CCC 2013 - Xi'an, China Duration: 26 Jul 2013 → 28 Jul 2013

Publication series

Name	Chinese Control Conference, CCC
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	32nd Chinese Control Conference, CCC 2013
Country/Territory	China
City	Xi'an
Period	26/07/13 → 28/07/13

Keywords

PTAM
linear quadratic regulation
trajectory tracking
unmanned micro aerial vehicles

Cite this

@inproceedings{5c68e96a74e745e3b6444b875abc6e82,

title = "Vision based flight control of 3-DOF helicopter",

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 = "PTAM, linear quadratic regulation, trajectory tracking, unmanned micro aerial vehicles",

author = "Shuailing Li and Hao Liu and Zongying Shi and Yisheng Zhong",

year = "2013",

month = oct,

day = "18",

language = "英语",

isbn = "9789881563835",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "4342--4347",

booktitle = "Proceedings of the 32nd Chinese Control Conference, CCC 2013",

address = "美国",

note = "32nd Chinese Control Conference, CCC 2013 ; Conference date: 26-07-2013 Through 28-07-2013",

}

TY - GEN

T1 - Vision based flight control of 3-DOF helicopter

AU - Li, Shuailing

AU - Liu, Hao

AU - Shi, Zongying

AU - Zhong, Yisheng

PY - 2013/10/18

Y1 - 2013/10/18

N2 - 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.

AB - 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.

KW - PTAM

KW - linear quadratic regulation

KW - trajectory tracking

KW - unmanned micro aerial vehicles

UR - https://www.scopus.com/pages/publications/84890515416

M3 - 会议稿件

AN - SCOPUS:84890515416

SN - 9789881563835

T3 - Chinese Control Conference, CCC

SP - 4342

EP - 4347

BT - Proceedings of the 32nd Chinese Control Conference, CCC 2013

PB - IEEE Computer Society

T2 - 32nd Chinese Control Conference, CCC 2013

Y2 - 26 July 2013 through 28 July 2013

ER -

Vision based flight control of 3-DOF helicopter

Abstract

Publication series

Conference

Keywords

Other files and links

Fingerprint

Cite this