Autonomous landing of an unmanned helicopter based on vision and inertial sensing
2006 (English)In: Proceedings of the 9th International Symposium on Experimental Robotics / [ed] Marcelo H. Ang and Oussama Khatib, Springer, 2006, Vol. 21, 343-352Conference paper (Refereed)
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. © Springer-Verlag Berlin/Heidelberg 2006.
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 21
National CategoryEngineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-50036DOI: 10.1007/11552246_33ISBN: 978-3-540-28816-9OAI: oai:DiVA.org:liu-50036DiVA: diva2:270932