Vision-based autonomous landing of an helicopter on a moving target

Srikanth Saripalli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Scopus citations

Abstract

This paper presents the design and implementation of an algorithm for landing a helicopter autonomously on a moving target. The target is neutral; it is neither adversarial nor cooperative. A downward-looking camera is used to acquire and track the target. A template matching algorithm is used for acquiring the target in the images. This is integrated with a trajectory controller for landing the helicopter. The position of the target in the image is the input to a robust Kalman filter for tracking in successive frames. A linear controller based on a kinematic model of the helicopter is used to perform trajectory following and landing. We present results from experimental trials showing successful trajectory tracking and landing on moving targets.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479786
DOIs
StatePublished - 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Vision-based autonomous landing of an helicopter on a moving target'. Together they form a unique fingerprint.

  • Cite this

    Saripalli, S. (2009). Vision-based autonomous landing of an helicopter on a moving target. In AIAA Guidance, Navigation, and Control Conference and Exhibit [2009-5660] (AIAA Guidance, Navigation, and Control Conference and Exhibit). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2009-5660