@inproceedings{740e76c7df7341d498445b7fa02135e0,
title = "Vision-based autonomous landing of an helicopter on a moving target",
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.",
author = "Srikanth Saripalli",
year = "2009",
doi = "10.2514/6.2009-5660",
language = "English (US)",
isbn = "9781563479786",
series = "AIAA Guidance, Navigation, and Control Conference and Exhibit",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
booktitle = "AIAA Guidance, Navigation, and Control Conference and Exhibit",
}