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...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of the 2002 IEEE International Conference on Robotics and Automation|
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