Vision-based navigation of unmanned aerial vehicles
Vision-based navigation of unmanned aerial vehicles
- New search for: Courbon, Jonathan
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- New search for: Martinet, Philippe
- New search for: Courbon, Jonathan
- New search for: Mezouar, Youcef
- New search for: Guenard, Nicolas
- New search for: Martinet, Philippe
This paper presents a vision-based navigation strategy for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) using a single embedded camera observing natural landmarks. In the proposed approach, images of the environment are first sampled, stored and organized as a set of ordered key images (visual path) which provides a visual memory of the environment. The robot navigation task is then defined as a concatenation of visual path subsets (called visual route) linking the current observed image and a target image belonging to the visual memory. The UAV is controlled to reach each image of the visual route using a vision-based control law adapted to its dynamic model and without explicitly planning any trajectory. This framework is largely substantiated by experiments with an X4-flyer equipped with a fisheye camera.
Document information
Vision-based navigation of unmanned aerial vehicles
Videobasierte Navigation unbemannter Luftfahrzeuge
Control Engineering Practice ; 18 , 7 ; 789-799
2010
11 Seiten
Article (Journal)
English
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