Paper Info
Title
Landing on a moving target using an autonomous helicopter
Abstract
We present a vision-based algorithm designed to enable an autonomous helicopter to land on a moving target. The helicopter is required to identify the target, track it, and land on it while the target is in motion. We use Hu's moments of inertia for precise target recognition and a Kalman filter for target tracking. Based on the output of the tracker, a simple trajectory controller is implemented which (within the given constraints) ensures that the helicopter is able to land on the target. We present data collected from manual flights which validate our tracking algorithm.
Year
DOI
Venue
2003
10.1007/10991459_27
SPRINGER TRACTS IN ADVANCED ROBOTICS
Keywords
DocType
Volume
algorithm design,moment of inertia,kalman filter,data collection
Conference
24
ISSN
Citations 
PageRank 
1610-7438
19
2.32
References 
Authors
8
2
Name
Order
Citations
PageRank
Srikanth Saripalli156460.11
Gaurav S. Sukhatme25469548.13