Indoor autonomous hovering control for a small unmanned coaxial helicopter
INDOOR AUTONOMOUS HOVERING CONTROL FOR
A SMALL-UNMANNED COAXIAL HELICOPTER
UAV also called unmanned aerial vehicle, has recently reached unprecedented levels of
growth in diverse military and civilian application domains, such as power lines inspection,
border patrol, rescue missions, natural gas search, fire prevention, natural disasters and
agricultural applications. Among many UAVs, the small-unmanned aerial vehicles will play an
important role in providing unprecedented situational awareness. VTOL (the Vertical Take-off
and Landing UAV) can help us realize most military and civilian applications. Small-unmanned
helicopters have the characteristics of vertical take-off and landing. Small-unmanned helicopters
can perform better than other aircrafts in loading. However, a helicopter system is very complex
to control for the characteristics of non-linearity, open loop instability and channel coupling.
Challenges of the research for the helicopter are received more and more concentration by many
Most of the helicopters run with human. An unmanned coaxial helicopter developed in
this paper for various applications.
In order to reduce the complexity of the helicopter control, this paper constructs an
indoor flight control platform for a small coaxial helicopter, which is convenient for data
collections, data analysis and control law design. Here a CCTV camera attached with the
helicopter; the captured video transmitted through wireless communication to the control section
and the coaxial helicopter controlled from the control section using wireless communication.
Final flight performance can verify the practicability of the proposed control platform for the
Keil C Compiler
This approach has merits of low cost and easy implementation.