TY - JOUR
T1 - Visually guided landing of an unmanned aerial vehicle
AU - Saripalli, Srikanth
AU - Montgomery, James F.
AU - Sukhatme, Gaurav S.
N1 - Funding Information:
Manuscript received January 22, 2002; revised July 1, 2002. This paper was recommended for publication by Associate Editor J. Ostrowski and Editor S. Hutchinson upon evaluation of the reviewers’ comments. This work was supported in part by NASA under JPL/Caltech Contract 1231521, in part by DARPA under Grant DABT63-99-1-0015 as part of the Mobile Autonomous Robotic Software (MARS) program, and in part by ONR under Grant N00014-00-1-0638 under the DURIP program. This paper was presented in part at the IEEE International Conference on Robotics and Automation, Washington, DC, May 11–15, 2002.
PY - 2003/6
Y1 - 2003/6
N2 - We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad) and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition, and a combination of vision and Global Positioning System for navigation. The helicopter updates its landing target parameters based on vision and uses an onboard behavior-based controller to follow a path to the landing site. We present significant results from flight trials in the field which demonstrate that our detection, recognition, and control algorithms are accurate, robust, and repeatable.
AB - We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad) and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition, and a combination of vision and Global Positioning System for navigation. The helicopter updates its landing target parameters based on vision and uses an onboard behavior-based controller to follow a path to the landing site. We present significant results from flight trials in the field which demonstrate that our detection, recognition, and control algorithms are accurate, robust, and repeatable.
KW - Autonomous helicopter
KW - Autonomous landing
KW - Unmanned aerial vehicle
KW - Vision-based navigation
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U2 - 10.1109/TRA.2003.810239
DO - 10.1109/TRA.2003.810239
M3 - Article
AN - SCOPUS:0038199866
SN - 1042-296X
VL - 19
SP - 371
EP - 380
JO - IEEE Transactions on Robotics and Automation
JF - IEEE Transactions on Robotics and Automation
IS - 3
ER -