Abstract
AbstractA vision based line tracking control strategy for a mini-rotorcraft is presented in this paper. The vision algorithm, employed to estimate the 3D position of the mini helicopter, is based on the vanishing points technique. Also, the dynamic model of this rotorcraft is presented in order to propose a nonlinear controller to navigate following a line. To validate the theoretical results, a real-time embedded control system has been developed. Experimental results have shown the good behavior of the proposed control vision scheme.
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