Vision-based autonomous landing of an unmanned aerial vehicle

Srikanth Saripalli, James F. Montgomery, Gaurav S. Sukhatme

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

232 Scopus citations

Abstract

We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The helicopter is required to navigate from an initial position to a final position in a partially known environment based on GPS and vision, locate a landing target (a helipad of a known shape) and land on it. We use vision for precise target detection and recognition. The helicopter updates its landing target parameters based on vision and uses an on board behavior-based controller to follow a path to the landing site. We present results from flight trials in the field which demonstrates that our detection, recognition and control algorithms are accurate and repeatable.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2799-2804
Number of pages6
Volume3
StatePublished - 2002
Externally publishedYes
Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

Other

Other2002 IEEE International Conference on Robotics adn Automation
CountryUnited States
CityWashington, DC
Period5/11/025/15/02

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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  • Cite this

    Saripalli, S., Montgomery, J. F., & Sukhatme, G. S. (2002). Vision-based autonomous landing of an unmanned aerial vehicle. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2799-2804)