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.


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    Titel :

    Vision-based navigation of unmanned aerial vehicles


    Weitere Titelangaben:

    Videobasierte Navigation unbemannter Luftfahrzeuge


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2010


    Format / Umfang :

    11 Seiten




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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