| Author | Apisit Aroonnual |
| Call Number | AIT Thesis no.ISE-10-31 |
| Subject(s) | Helicopters--Control systems
|
| Note | A thesis submitted in partial fulfillment of the requirements for the Degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-10-31 |
| Abstract | This thesis shows a research of using only a webcam camera as a position sensor in order to
control positions and heading angle of a toy-model 4-channel coaxial helicopter robot to
perform automatic hovering at a desired position and heading angle. The webcam is placed on
the ground, and there is no any sensor mounted on the helicopter. Three LEDs which are used
as tracking object are attached under the helicopter platform. The camera captures the image
of the helicopter with LEDs, finds the positions and heading angle of the helicopter in the
image plane, and converts this information into the positions of the helicopter in the real
world space. PID controller is used for heading angle control. Fuzzy-PID controller is chosen
to control X and Y positions of the helicopter. Fuzzy controller is selected for altitude control.
The experiment is separated into three parts, semi-automatic hovering control ,which the
throttle channel of the helicopter is manually controlled, with one desired position and
heading angle, full-automatic hovering control with one desired position and heading angle,
and last, full-automatic hovering control with two desired positions and heading angles. The
results confirm the competent hovering performance of the helicopter. |
| Keyword | Coaxial helicopter; Visual servoing; Automatic hovering control; PID control;
Fuzzy control; Fuzzy-PID control. |
| Year | 2010 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-10-31 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erik L. J. |
| Scholarship Donor(s) | Thailand (HM-King);RTG Fellowship |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2010 |