1P1-F14 小型ヘリコプタの協調制御(飛行ロボット・メカトロニクス)

Abstract

This paper presents cooperative control of two micro co-axial helicopters using vision-based control with occlusion handling. The helicopters do not have any sensors which measure their positions or postures. Eight stationary cameras are placed on the ground. The helicopter positions and postures are reconstructed by fusing the visual information. Experimental results demonstrate that automatic guidance control of micro-helicopters is performed.