Landing on a moving target using an autonomous helicopter

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. Springer-Verlag Berlin Heidelberg 2006.

authors

• Saripalli, Srikanth

published proceedings

• FIELD AND SERVICE ROBOTICS: RECENT ADVANCES IN RESEARCH AND APPLICATIONS

author list (cited authors)

• Saripalli, S., & Sukhatme, G. S.

citation count

• 59

complete list of authors

• Saripalli, Srikanth||Sukhatme, Gaurav S

publication date

• September 2006

publisher

• Springer Nature  Publisher

published in

• Springer Tracts in Advanced Robotics  Journal

keywords

• 15 Life On Land
• 40 Engineering
• 4001 Aerospace Engineering
• 46 Information And Computing Sciences
• 4602 Artificial Intelligence

Digital Object Identifier (DOI)

• 10.1007/10991459_27

start page

• 277

end page

• +

volume

• 24

URL

• http://dx.doi.org/10.1007/10991459_27

user-defined tag

• 15 Life on Land