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Article Dans Une Revue Robotics and Autonomous Systems Année : 2005

A contribution to vision-based autonomous helicopter flight in urban environments

Laurent Muratet
  • Fonction : Auteur
Stéphane Doncieux
Yves Brière
  • Fonction : Auteur
Jean-Arcady Meyer
  • Fonction : Auteur
  • PersonId : 968901

Résumé

A navigation strategy that exploits the optic flow and inertial information to continuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment. Experimental results demonstrate that the corresponding controller generates cautious behavior, whereby the helicopter tends to stay in the middle of narrow corridors, while its forward velocity is automatically reduced when the obstacle density increases. When confronted with a frontal obstacle, the controller is also able to generate a tight U-turn that ensures the UAV’s survival. The paper provides comparisons with related work, and discusses the applicability of the approach to real platforms.

Dates et versions

hal-01185695 , version 1 (21-08-2015)

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Citer

Laurent Muratet, Stéphane Doncieux, Yves Brière, Jean-Arcady Meyer. A contribution to vision-based autonomous helicopter flight in urban environments. Robotics and Autonomous Systems, 2005, 50 (4), pp.195-209. ⟨10.1016/j.robot.2004.09.017⟩. ⟨hal-01185695⟩
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