NDLI: 3D Vision Based Landing Control of a Small Scale Autonomous Helicopter

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3D Vision Based Landing Control of a Small Scale Autonomous Helicopter

Content Provider	Directory of Open Access Journals (DOAJ)
Author	Kenzo Nonami Zhenyu Yu Demian Celestino Jinok Shin
Abstract	Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV) to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous helicopter. The abovetheground height sensing is based on a 3D vision system. We have designed a simple planefitting method for estimating the height over the ground. The method enables vibration free measurement with the camera rigidly attached on the helicopter without using complicated gimbal or active vision mechanism. The estimated height is used by the landing control loop. Considering the ground effect during landing, we have proposed a twostage landing procedure. Two controllers are designed for the two landing stages respectively. The sensing approach and control strategy has been verified in field flight test and has demonstrated satisfactory performance.
Related Links	http://www.intechopen.com/articles/show/title/3d_vision_based_landing_control_of_a_small_scale_autonomous_helicopter
ISSN	17298806
e-ISSN	17298814
Journal	International Journal of Advanced Robotic Systems
Issue Number	1
Volume Number	4
Language	English
Publisher	SAGE Publishing
Publisher Date	2008-01-01
Publisher Place	United Kingdom
Access Restriction	Open
Subject Keyword	Electronics Electronic Computers. Computer Science Landing Control 3d Vision Autonomous Helicopter Height Over Ground Estimation Twostage Landing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Computer Science Applications Software

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