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ICRA
2002
IEEE

Control of a Quadrotor Helicopter using Visual Feedback

9 years 4 months ago
Control of a Quadrotor Helicopter using Visual Feedback
We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses a ground camera to estimate the pose (position and orientation) of the helicopter. Two methods of control are studied one using a series of mode-based, feedback linearizing controllers, and the other using a backstepping-like control law. Various simulations of the model demonstrate the implementation of feedback linearization and the backstepping controllers. Finally, we present initial flight experiments where the helicopter is restricted to vertical and yaw motions.
Erdinç Altug, James P. Ostrowski, Robert E.
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Erdinç Altug, James P. Ostrowski, Robert E. Mahony
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