NDLI: Out-of-plane orbit estimation and tracking for aerial recovery of micro air vehicles

Content Provider	IEEE Xplore Digital Library
Author	Carlson, D.C. Colton, M.B.
Copyright Year	2010
Description	Author affiliation: Brigham Young Univ., USA (Carlson, D.C.; Colton, M.B.)
Abstract	Aerial recovery of autonomous micro air vehicles (MAVs) presents many unique challenges due to the difference in size and speed of the recovery vehicle and MAV. This paper presents algorithms to enable an autonomous MAV to estimate the orbit of a recovery vehicle and track the orbit until the final docking phase. Several algorithms are presented, which are shown to be robust and computationally inexpensive. Methods for estimating ellipses that are rotated out of the x−y plane are developed and demonstrated through simulation. An algorithm to enable the MAV to track the recovery vehicle's orbit, based on the vector field approach, is also presented.
Starting Page	1130
Ending Page	1135
File Size	520381
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509446
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Unmanned aerial vehicles Remotely operated vehicles Mobile robots Aerodynamics Robustness Intelligent vehicles Aircraft propulsion Vehicle dynamics Robotics and automation USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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