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.


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    Title :

    A Simple Autonomous Hovering and Operating Control of Multicopter Using Only Web Camera


    Contributors:
    Kazuya Sato (author) / Toru Kasahara (author) / Junji Kuroda (author) / Tomoyuki Izu (author)

    Publication date :

    2015-07-01


    Remarks:

    oai:zenodo.org:1107780



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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