Flapping-wing micro air vehicle vision feedback control method

The invention provides a flapping-wing micro air vehicle vision feedback control method, which can realize quick positioning and flight control on the flapping-wing micro air vehicle. The method comprises steps: a peripheral Kinect sensor is used to capture the motion image when the flapping-wing micro air vehicle flies; according to the captured motion image, three-dimensional space coordinates of the flapping-wing micro air vehicle are determined; and according to the deviation between the determined three-dimensional space coordinates of the flapping-wing micro air vehicle and preset three-dimensional space coordinates, the flapping-wing micro air vehicle flies according to the preset three-dimensional space coordinates. The method is applicable to the flapping-wing micro air vehicle control field. 本发明提供种微型扑翼飞行器视觉反馈控制方法，能够实现微型扑翼飞行器的快速定位和飞行控制。所述方法包括：利用外设的Kinect传感器，捕获所述微型扑翼飞行器飞行时的运动图像；根据捕获的所述运动图像，确定所述微型扑翼飞行器所处的三维空间坐标；根据确定的所述微型扑翼飞行器所处的三维空间坐标与预先设定的三维空间坐标之间的偏差量控制所述微型扑翼飞行器按照预先设定的三维空间坐标进行飞行。本发明适用于微型扑翼飞行器控制领域。