Maneuvering and Tracking for a Micro Air Vehicle Using Vision-Based Feedback
Date Published: 2004-11-02
Paper Number:2004-01-3137
DOI: 10.4271/2004-01-3137
Citation:
Kehoe, J., Causey, R., Lind, R., and Kurdila, A., "Maneuvering and Tracking for a Micro Air Vehicle Using Vision-Based Feedback," SAE Technical Paper 2004-01-3137, 2004, doi:10.4271/2004-01-3137.
Author(s):
Joseph J. Kehoe - University of Florida
Ryan Causey - University of Florida
Rick Lind - University of Florida
Andrew J. Kurdila - University of Florida
Abstract:
Missions envisioned for micro air vehicles may require a high degree of autonomy to operate in unknown environments. As such, vision is a critical technology for mission capability. This paper discusses an autopilot that uses vision coupled with GPS and altitude sensors. One use of vision processing analyzes a horizon to estimate roll and pitch information. Another use tracks a feature point to estimate position relative to a target. This paper presents examples of waypoint navigation and homing using vision-based feedback. The examples indicate the vision provides sufficient information to achieve the missions.
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