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Control of a quadrotor helicopter using visual feedback
Abstract
We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses aground 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.
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Citations
Cited by
Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter
Lee, D., Jin Kim, H., & Sastry, S. (2009) · International Journal of Control, Automation and Systems · doi:10.1007/s12555-009-0311-8 · Cited by 678
Monocular‐SLAM–based navigation for autonomous micro helicopters in GPS‐denied environments
Weiss, S., Scaramuzza, D., & Siegwart, R. (2011) · Journal of Field Robotics · doi:10.1002/rob.20412 · Cited by 414
Survey of computer vision algorithms and applications for unmanned aerial vehicles
Al-Kaff, A., Martín, D., García, F., Escalera, A. D. L., & María Armingol, J. (2018) · Expert Systems with Applications · doi:10.1016/j.eswa.2017.09.033 · Cited by 246
Metadata
- Authors
- Altug, E., Ostrowski, J. P., & Mahony, R.
- Venue
- Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
- Publisher
- IEEE
- Published
- 2003-06-25
- Volume
- 1
- Pages
- 72-77
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1574945970
- Cited by
- 478
- References
- 0
- FWCI
- 13.33
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Control of a quadrotor helicopter using visual feedback. https://app.cochat.ai/papers/10.1109/robot.2002.1013341
- The paper
- Altug, E., Ostrowski, J. P., & Mahony, R. (2003). Control of a quadrotor helicopter using visual feedback. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). https://doi.org/10.1109/robot.2002.1013341
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
