Dependable visual servo control of a small-scale helicopter with a wireless camera

This paper presents a dependable visual controller for a small-scale helicopter with a wireless camera. The wireless camera sometimes captures noisy images caused by communication errors or swinging motion of the helicopter. If all captured images are used to generate feedback control signals, then the helicopter is out of control in our experiences. Noisy images are classified into three types. Three image features are introduced so as to find noisy images. Noisy images are not used to make control signals. The proposed dependable controller enables the helicopter to achieve long-time hovering flight.