A Simple Autonomous Hovering and Operating Control of Multicopter Using Only Web Camera
In this paper, an autonomous hovering control method
of multicopter using only Web camera is proposed. Recently, various
control method of an autonomous flight for multicopter are proposed.
But, in the previous proposed methods, a motion capture system
(i. e., OptiTrack) and laser range finder are often used to measure
the position and posture of multicopter. To achieve an autonomous
flight control of multicopter with simple equipments, we propose
an autonomous flight control method using AR marker and Web
camera. AR marker can measure the position of multicopter with
Cartesian coordinate in three dimensional, then its position connects
with aileron, elevator, and accelerator throttle operation. A simple
PID control method is applied to the each operation and adjust
the controller gains. Experimental results are given to show the
effectiveness of our proposed method. Moreover, another simple
operation method for autonomous flight control multicopter is also
proposed.
[1] A. Mokhtari, A. Benallegue and A. Belaidi: Polynom al Linear Quadratic
Gaussian ans Sliding Mode Ob- server for a Quadrotor Unmanned Aerial
Vehicle, Journal of Robotics and Mechatronics, vol. 17, no. 4, pp.
483–495, 2005.
[2] S. Bouabdallah and R. Siegwart: Backstepping and Sliding-mode
Techniques Applied to an Indoor Micro Quadrotor, Procs of the 2005
IEEE International Conference, pp. 2259–2264, 2005.
[3] T. Madani and A. Benallegue: Adaptive Control via Backstepping
Technique and Neural Networks of a Quadrotor Helicopter, Procs of the
17th IFAC World Congress, Seoul, pp. 6513–6518, 2008.
[4] A. Abdessameud and A. Tayebi: Global trajectory tracking control of
VTOL–UAVs without linear velocity measurements, Vol. 46, No. 6, pp.
1053–1059, 2010.
[5] M. Yokoyama and K. Fujimoto: Velocity Tracking Control of a
Four–Rotor Mini Helicopter, Motion and Vibration Control, pp. 225–344,
2009.
[6] K. Fujimoto, M. Yokoyama, and Y. Tanabe: Position and Yaw
Angle Control for a Four Rotor Mini Helicopter Based on a
Geometric Approach, TRANSACTIONS OF THE JAPAN SOCIETY OF
MECHANICAL ENGINEERS Series C, pp. 126–137, 2012.
[7] A. Astolfi: Discontinuous control of nonholonomic systems, System and
Control Letters, Vol. 27, pp. 37–45, 1996.
[8] K. Sato, N. Yamaguchi, and J. Kuroda: A Simple Structure Formation
Control of Multi Robots using Augmented Reality Technology, Procs.
2014 IEEE Multi Conference on Systems and Control, WeB07.4, 2014.
[1] A. Mokhtari, A. Benallegue and A. Belaidi: Polynom al Linear Quadratic
Gaussian ans Sliding Mode Ob- server for a Quadrotor Unmanned Aerial
Vehicle, Journal of Robotics and Mechatronics, vol. 17, no. 4, pp.
483–495, 2005.
[2] S. Bouabdallah and R. Siegwart: Backstepping and Sliding-mode
Techniques Applied to an Indoor Micro Quadrotor, Procs of the 2005
IEEE International Conference, pp. 2259–2264, 2005.
[3] T. Madani and A. Benallegue: Adaptive Control via Backstepping
Technique and Neural Networks of a Quadrotor Helicopter, Procs of the
17th IFAC World Congress, Seoul, pp. 6513–6518, 2008.
[4] A. Abdessameud and A. Tayebi: Global trajectory tracking control of
VTOL–UAVs without linear velocity measurements, Vol. 46, No. 6, pp.
1053–1059, 2010.
[5] M. Yokoyama and K. Fujimoto: Velocity Tracking Control of a
Four–Rotor Mini Helicopter, Motion and Vibration Control, pp. 225–344,
2009.
[6] K. Fujimoto, M. Yokoyama, and Y. Tanabe: Position and Yaw
Angle Control for a Four Rotor Mini Helicopter Based on a
Geometric Approach, TRANSACTIONS OF THE JAPAN SOCIETY OF
MECHANICAL ENGINEERS Series C, pp. 126–137, 2012.
[7] A. Astolfi: Discontinuous control of nonholonomic systems, System and
Control Letters, Vol. 27, pp. 37–45, 1996.
[8] K. Sato, N. Yamaguchi, and J. Kuroda: A Simple Structure Formation
Control of Multi Robots using Augmented Reality Technology, Procs.
2014 IEEE Multi Conference on Systems and Control, WeB07.4, 2014.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:70512", author = "Kazuya Sato and Toru Kasahara and Junji Kuroda and Tomoyuki Izu", title = "A Simple Autonomous Hovering and Operating Control of Multicopter Using Only Web Camera", abstract = "In this paper, an autonomous hovering control method
of multicopter using only Web camera is proposed. Recently, various
control method of an autonomous flight for multicopter are proposed.
But, in the previous proposed methods, a motion capture system
(i. e., OptiTrack) and laser range finder are often used to measure
the position and posture of multicopter. To achieve an autonomous
flight control of multicopter with simple equipments, we propose
an autonomous flight control method using AR marker and Web
camera. AR marker can measure the position of multicopter with
Cartesian coordinate in three dimensional, then its position connects
with aileron, elevator, and accelerator throttle operation. A simple
PID control method is applied to the each operation and adjust
the controller gains. Experimental results are given to show the
effectiveness of our proposed method. Moreover, another simple
operation method for autonomous flight control multicopter is also
proposed.", keywords = "Autonomous hovering control, multicopter, Web
camera.", volume = "9", number = "5", pages = "908-6", }