A Pan-Tilt Camera Control System of Subminiature Robot Helicopter Visual Landing Based on Biomimetic Eye

Firstly, based on the principle of binocular vergence eye movements ,a new type of method about field fixed point landing of the Subminiature robot helicopter is put forward. Secondly, according to oculomotor neural pathways, the oculomotor control system model is established. Then the control model of SHR landing system is discussed in detail. Some key problems about the control system are stressed in this paper. Finally, the simulation and experimental results show that the control system can realize binocular vergence movements. Compared with the conventional landing methods, this new one can eliminate blind and reduce loss.