Name
Abstract | ||
|---|---|---|
We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad), and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition and a combination of vision and GPS for navigation. The helicopter updates its landing target parameters based on vision and uses an on board behavior-based controller to follow a path to the landing site. We present significant results from flight trials in the field which demonstrate that our detection, recognition and control algorithms are accurate, robust and repeatable. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1007/3-540-36268-1_42 | Springer Tracts in Advanced Robotics |
Keywords | Field | DocType |
degree of freedom,finite state machine,inertial navigation,control system | Computer vision,Control algorithm,Control theory,Simulation,Control engineering,Artificial intelligence,Global Positioning System,Engineering | Conference |
Volume | ISSN | Citations |
5 | 1610-7438 | 9 |
PageRank | References | Authors |
1.06 | 7 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Srikanth Saripalli | 1 | 564 | 60.11 |
| Gaurav S. Sukhatme | 2 | 5469 | 548.13 |
| James F. Montgomery | 3 | 470 | 66.96 |