Landing on a moving target using an autonomous helicopter

Srikanth Saripalli, Gaurav S. Sukhatme

Research output: Chapter in Book/Report/Conference proceedingChapter

26 Scopus citations

Abstract

We present a vision-based algorithm designed to enable an autonomous helicopter to land on a moving target. The helicopter is required to identify the target, track it, and land on it while the target is in motion. We use Hu's moments of inertia for precise target recognition and a Kalman filter for target tracking. Based on the output of the tracker, a simple trajectory controller is implemented which (within the given constraints) ensures that the helicopter is able to land on the target. We present data collected from manual flights which validate our tracking algorithm.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationRecent Advances in Research and Applications
EditorsShinichi Yuta, Hajima Asama, Erwin Prassler, Takashi Tsubouchi, Sebastian
Pages277-286
Number of pages10
DOIs
StatePublished - Sep 28 2006

Publication series

NameSpringer Tracts in Advanced Robotics
Volume24
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Saripalli, S., & Sukhatme, G. S. (2006). Landing on a moving target using an autonomous helicopter. In S. Yuta, H. Asama, E. Prassler, T. Tsubouchi, & Sebastian (Eds.), Robotics: Recent Advances in Research and Applications (pp. 277-286). (Springer Tracts in Advanced Robotics; Vol. 24). https://doi.org/10.1007/10991459_27