Abstract: This paper designs a visual servo system of FMAV. First, we introduc the kinematics rules, and make a brief summary of the whole control system, at last we design a new algorithm which is used to detect the movement locus of FMAV. The experiment shows that the new algorithm is more precise in detection of foreground target, comparing with the method of background differencing.

Key words: FMAV, OpenCV, visual servo