Visual control of a micro helicopter under dynamic occlusions

Yuta Yoshihata, Kei Watanabe, Yasushi Iwatani, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This paper proposes a switched visual feedback control method for a micro helicopter under occlusions. Two stationary cameras are placed on the ground. They track four black balls attached to rods connected to the bottom of the helicopter. The control input is computed by using the errors between the positions of the tracked objects and pre-specified reference values for them. The multi-camera configuration enables us to design a switched controller which is robust against occlusions. The proposed controller selects a camera which correctly measures all of the tracked object positions at each time. If a camera loses a tracked object, then the camera searches for the four tracked objects by using an image data captured from the other camera. The proposed controller can keep the helicopter in a stable hover even when one of the cameras loses tracked objects due to occlusions.

Original languageEnglish
Title of host publicationRecent Progress in Robotics
Subtitle of host publicationViable Robotic Service to Human
EditorsSukhan Lee, Il Hong Suh, Kim Mun Sang
Number of pages13
Publication statusPublished - 2008

Publication series

NameLecture Notes in Control and Information Sciences
ISSN (Print)0170-8643


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