Image-based visual PID control of a micro helicopter using a stationary camera

Kei Watanabe, Yuta Yoshihata, Yasushi Iwatani, Koichi Hashimoto

Research output: Contribution to journalArticlepeer-review

26 Citations (Scopus)


This paper proposes an image-based visual servo control method for a micro helicopter. The helicopter does not have any sensors to measure its position or posture on the body. A stationary camera is placed on the ground and it obtains image features of the helicopter. The differences between current features and given reference features are computed. PID controllers then make control input voltages for helicopter control and they drive the helicopter. The proposed controller can avoid some major difficulties in computer vision such as numerical instability due to image noise or model uncertainties, since the reference is defined in the image frames. An experimental result demonstrates that the proposed controller can keep the helicopter in a stable hover.

Original languageEnglish
Pages (from-to)381-393
Number of pages13
JournalAdvanced Robotics
Issue number2-3
Publication statusPublished - 2008 Mar 1


  • Aerial robotics
  • Image-based visual servoing
  • Micro helicopter
  • Pid control
  • Visual feedback control


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