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2004
Springer

Autonomous Landing of an Unmanned Helicopter based on Vision and Inertial Sensing

9 years 7 months ago
Autonomous Landing of an Unmanned Helicopter based on Vision and Inertial Sensing
In this paper, we propose an autonomous precision landing method for an unmanned helicopter based on an on-board visual navigation system consisting of a single pan-tilting camera, off-the-shelf computer hardware and inertial sensors. Compared to existing methods, the system doesn’t depend on additional sensors (in particular not on GPS), offers a wide envelope of starting points for the autonomous approach, and is robust to different weather conditions. Helicopter position and attitude is estimated from images of a specially designed landing pad. We provide results from both simulations and flight tests, showing the performance of the vision system and the overall quality of the landing.
Torsten Merz, Simone Duranti, Gianpaolo Conte
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ISER
Authors Torsten Merz, Simone Duranti, Gianpaolo Conte
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