Fuzzy Control of Micro Helicopter with Coaxial Counter-rotating Blades

Abstract

Recently, there are a lot of research on swarm intelligence using multiple mobile robots. In most of the research, based on visual information of video cameras fixed to a ceiling, the mobile robots detect their own position. However, since the video cameras are fixed to a ceiling, there is a problem that the experimental field is limited. The goal of our research is to support the detection of the robots' position by using micro-helicopter with micro-camera to extend the experimental field freely. As the first step to the goal, this paper presents flight control of micro helicopter with coaxial counter-rotating blades. By employing fuzzy control approach to control the helicopter, we achieve hovering control and path-following control of the helicopter.