%0 Journal Article
	%A Kazuya Sato and  Toru Kasahara and  Junji Kuroda and  Tomoyuki Izu
	%D 2015
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 101, 2015
	%T A Simple Autonomous Hovering and Operating Control of Multicopter Using Only Web Camera
	%U https://publications.waset.org/pdf/10002009
	%V 101
	%X In this paper, an autonomous hovering control method
of multicopter using only Web camera is proposed. Recently, various
control method of an autonomous flight for multicopter are proposed.
But, in the previous proposed methods, a motion capture system
(i. e., OptiTrack) and laser range finder are often used to measure
the position and posture of multicopter. To achieve an autonomous
flight control of multicopter with simple equipments, we propose
an autonomous flight control method using AR marker and Web
camera. AR marker can measure the position of multicopter with
Cartesian coordinate in three dimensional, then its position connects
with aileron, elevator, and accelerator throttle operation. A simple
PID control method is applied to the each operation and adjust
the controller gains. Experimental results are given to show the
effectiveness of our proposed method. Moreover, another simple
operation method for autonomous flight control multicopter is also
proposed.
	%P 908 - 913