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Optic flow based AFCS for rotorcraft automatic manoeuvring (terrain following, take-off and landing)
| Content Provider | Semantic Scholar |
|---|---|
| Author | Ruffier, Franck Franceschini, Nicolas |
| Copyright Year | 2004 |
| Abstract | We have developed a visually based autopilot which is able to make a miniature rotorcraft automatically cruise and follow terrain [9]. We built a proof-of-concept, tethered robot that flies indoors over an environment composed of contrasting features randomly arranged on the floor. We show the feasibility of a visuomotor control loop that acts upon the thrust so as to maintain the optic flow (OF) estimated in the downward direction to a reference value. The OF sensor is an Elementary Motion Detector (EMD) [24, 8], the functional structure of which was inspired by those of the housefly, which were previously investigated at our Laboratory by performing electrophysiological recordings while applying optical microstimuli to single photoreceptor cells of the compound eye [13]. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://dspace-erf.nlr.nl/xmlui/bitstream/handle/20.500.11881/310/71_ruffier.pdf?isAllowed=y&sequence=1 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |