NDLI: Combined application of kalman filtering and correlation towards autonomous helicopter landing

Content Provider	IEEE Xplore Digital Library
Author	Jan, I.U. Khan, M.U. Iqbal, N.
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences, Nilore, Islamabad, Pakistan (Jan, I.U.; Khan, M.U.; Iqbal, N.)
Abstract	Autonomous helicopter landing is a challenging problem in the field of aerial robotics. An autonomous maneuver depends largely on two capabilities: the decision of where to land and the generation of control signals to guide the vehicle to a safe landing. Here we present a control system that enables a helicopter to land on a stationary target (landmark) on the ground. The autonomous landing control process uses visual information to control the position, height as well as the orientation of the helicopter relative to the target for a safe and accurate landing. A remote controlled helicopter is used for the landing tests. The vision system, i.e., a wireless camera is mounted on the body of the helicopter and pointing downwards. The control algorithm is designed in MATLAB which issues control signals to the remote control of the helicopter based on the actual and desired visual inputs to the computer control system. The designed strategy of control is totally dynamics free as long as the helicopter and camera hardware's are concern. The closed loop system is established through virtual feedback system having visual information. The application of kalman filter (KF) is used for controlling the position and height of the helicopter. An individual controller is implemented for the orientation control based on the pattern-correlation of images.
Starting Page	1
Ending Page	6
File Size	1813150
Page Count	6
File Format	PDF
ISBN	9781424433131
DOI	10.1109/IC4.2009.4909166
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-02-17
Publisher Place	Pakistan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Filtering Helicopters kalman filter Control systems vision system Autonomous helicopter landing dynamics free virtual feedback Remotely operated vehicles Vehicle safety computer control Cameras Signal generators Land vehicles Kalman filters pattern correlation Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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