By Topic

Altitude control of flapping-wing MAV using vision-based navigation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
S. H. Lin ; Aerospace Engineering, Tamkang University, Tamsui 251, Taiwan, ROC ; F. Y. Hsiao ; C. L. Chen ; J. F. Shen

The altitude control of flapping-wing micro-aerial vehicles (MAVs) is discussed in this paper. The Tamkang University (TKU) has been devoted to the development of flapping-wing robots for a long period, including design, fabrication and control. On the basis of the earlier knowledge on the Golden Snitch, a flapping-wing MAV in TKU, we develop a non-intrusive navigation methodology by using stereo vision, and stabilize the flight trajectory with a modified P-control. Different from other mechanical or aerial systems, the selections in control signal are limited in this problem due to the restrictions in carry-on weight. Numerical simulations and flight tests are also provided to demonstrate the robustness of our control law and the system structure. We are confident that this should be the first flapping-wing MAV under 10 grams capable of autopilot. The ultimate goal of this work is to realize fully autonomous flight of flapping-wing MAVs.

Published in:

Proceedings of the 2010 American Control Conference

Date of Conference:

June 30 2010-July 2 2010