This paper describes the vision-based control of a small autonomous aircraft following a road. The computer vision system detects natural features of the scene and tracks the roadway in order to determine relative yaw and lateral displacement between the aircraft and the road. Using only the vision measurements and onboard inertial sensors, a control strategy stabilizes the aircraft and follows the road. The road detection and aircraft control strategies have been verified by hardware in the loop (HIL) simulations over long stretches (several kilometers) of straight roads and in conditions of up to 5 m/s of prevailing wind. Hardware experiments have also been conducted using a modified radio-controlled aircraft. Successful road following was demonstrated over an airfield runway under variable lighting and wind conditions. The development of vision-based control strategies for unmanned aerial vehicles (UAVs), such as the ones presented here, enables complex autonomous missions in environments where typical navigation sensor like GPS are unavailable.


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    Titel :

    Vision-based road-following using a small autonomous aircraft


    Beteiligte:
    Frew, E. (Autor:in) / McGee, T. (Autor:in) / Kim, ZuWhan (Autor:in) / Xiao, Xiao (Autor:in) / Jackson, S. (Autor:in) / Morimoto, M. (Autor:in) / Rathinam, S. (Autor:in) / Padial, J. (Autor:in) / Sengupta, R. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2004


    Format / Umfang :

    10 Seiten, 16 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Vision-based road-following using a small autonomous aircraft

    Frew, E. / McGee, T. / ZuWhan Kim, et al. | IEEE | 2004


    9.0201 Vision-Based Road-Following Using a Small Autonomous Aircraft

    IEEE | British Library Conference Proceedings | 2004


    Vision-based road following in the autonomous land vehicle

    Seida, S. / Morgenthaler, D.G. / Podlaseck, M. et al. | Tema Archiv | 1987


    Vision-based road following for an autonomous land vehicle

    WAXMAN, A. / LE MOIGNE, J. / SRINIVASAN, B. et al. | AIAA | 1985


    Autonomous Road Following: A Vision-Based Approach for AVCS

    Juberts, M. / Raviv, D. / Bishop, J. R. | British Library Conference Proceedings | 1993