3939 3Dステレオビジョンを用いた自律的着陸制御と自律的離陸制御(J18-2 自律型グラウンドビークル,エアビークルの新展開(2),J18 自律型グラウンドビークル,エアビークルの新展開,2005年度年次大会)

概要

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Helicopters are capable of VTOL (Vertical Take-Off and Landing), versatile maneuverability and flying among space-restricted areas at low speed. These characteristics make small helicopters good application platforms for site survey, power transmission line inspection, remote sensing, disaster investigation, mine detection and so on. In the development of unmanned autonomous helicopters, autonomous landing and take-off are the fundamental requirements for ease of operation and flying safety. This paper presents a 3D vision based method for take-off and landing control. Based on the information from 3D camera, we can estimate the height of helicopter above the ground, and at the same time we can know the flatness of the ground surface. This information is taken into consideration in our proposed two-sage landing controller to enable smooth and safe landing. We propose a combined feedforward and feedback approach for take-off control. The experimental results show good performance of the proposed method.
2005-09-18