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2003
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Landing on a Moving Target Using an Autonomous Helicopter

12 years 2 months ago
Landing on a Moving Target Using an Autonomous Helicopter
We present a vision-based algorithm designed to enable an autonomous helicopter to land on a moving target. The helicopter is required to identify a 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 results from data collected from manual flights which validate our tracking algorithm. Tests on actual landing with the helicopter UAV are ongoing.
Srikanth Saripalli, Gaurav S. Sukhatme
Added 06 Jul 2010
Updated 06 Jul 2010
Type Conference
Year 2003
Where FSR
Authors Srikanth Saripalli, Gaurav S. Sukhatme
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