A Simple Autonomous Flight Control of Multicopter Using Only Web Camera

Kazuya Sato; Ryuichiro Daikoku

doi:10.20965/jrm.2016.p0286

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JRM Vol.28 No.3 pp. 286-294

doi: 10.20965/jrm.2016.p0286

(2016)

Paper:

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A Simple Autonomous Flight Control of Multicopter Using Only Web Camera

Kazuya Sato and Ryuichiro Daikoku

Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University
1 Honjo, Saga, Saga 840-8502, Japan

Received:

August 20, 2015

Accepted:

February 6, 2016

Published:

June 20, 2016

Keywords:

autonomous flight control, multicopter, web camera

Abstract

In this paper, an autonomous flight control method of multicopter using only Web camera is proposed. Autonomous multicopter flight control has attracted much attention. Previously proposed methods have measured the position and posture of multicopter, GPS, motion capture system, and laser range finder are often applied. These methods are effective under certain conditions, but practical use may be difficult in some real environments. To achieve an autonomous flight control of multicopter with simple equipments, we propose an autonomous flight control method using Web camera and simple monitoring display window operation. Colored markers are used to measure the position of multicopter with Cartesian coordinate in three dimensional, then its position connects with elevator, aileron, and throttle operation. For each operation, a simple PI-D control method is used and the controller gains are individually adjusted. To show the effectiveness of our proposed method, experimental results are given.

Autonomous circular flight of multicopter

Cite this article as:

K. Sato and R. Daikoku, “A Simple Autonomous Flight Control of Multicopter Using Only Web Camera,” J. Robot. Mechatron., Vol.28 No.3, pp. 286-294, 2016.

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References

[1] A. Mokhtari, A. Benallegue, and A. Belaidi, “Polynomial Linear Quadratic Gaussians Sliding Mode Observer for a Quadrotor Unmanned Aerial Vehicle,” J. 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,” Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation, pp. 2259-2264, 2005.
[3] T. Madani and A. Benallegue, “Adaptive Control via Backstepping Technique and Neural Networks of a Quadrotor Helicopter,” Proc. of the 17th IFAC World Congress, Seoul, pp. 6513-6518, 2008.
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[5] M. Yokoyama and K. Fujimoto, “Velocity Tracking Control of a Four-Rotor Mini Helicopter,” Motion and Vibration Control, pp. 335-344, 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,” Trans. of the Japan Society of Mechanical Engineers, Series C, Vol.78, No.785, pp. 126-137, 2012 (in Japanese).
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] A. Mokhtari, A. Benallegue, and A. Belaidi, “Polynomial Linear Quadratic Gaussians Sliding Mode Observer for a Quadrotor Unmanned Aerial Vehicle,” J. of Robotics and Mechatronics, Vol.17, No.4, pp. 483-495, 2005.

[2] [2] S. Bouabdallah and R. Siegwart, “Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor,” Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation, pp. 2259-2264, 2005.

[3] [3] T. Madani and A. Benallegue, “Adaptive Control via Backstepping Technique and Neural Networks of a Quadrotor Helicopter,” Proc. of the 17th IFAC World Congress, Seoul, pp. 6513-6518, 2008.

[4] [4] A. Abdessameud and A. Tayebi, “Global trajectory tracking control of VTOL-UAVs without linear velocity measurements,” Automatica, Vol.46, No.6, pp. 1053-1059, 2010.

[5] [5] M. Yokoyama and K. Fujimoto, “Velocity Tracking Control of a Four-Rotor Mini Helicopter,” Motion and Vibration Control, pp. 335-344, 2009.

[6] [6] K. Fujimoto, M. Yokoyama, and Y. Tanabe, “Position and Yaw Angle Control for a Four Rotor Mini Helicopter Based on a Geometric Approach,” Trans. of the Japan Society of Mechanical Engineers, Series C, Vol.78, No.785, pp. 126-137, 2012 (in Japanese).

[7] [7] A. Astolfi, “Discontinuous control of nonholonomic systems,” System and Control Letters, Vol.27, pp. 37-45, 1996.