A vision-based automatic recovery method including steps of: generating a reference trajectory connecting an align point and a recovery point that is provided through wireless communication; taking an image containing a target through a front vision camera, determining a position and a size of the target in the taken image, and calculating a distance between the target and the unmanned aerial vehicle; generating an attitude command for changing a direction of the unmanned aerial vehicle so as to center the target in an image taken by the front vision camera; and generating a virtual trajectory by combining the generated reference trajectory and the generated attitude command, a weight of the attitude command being increased as the unmanned aerial vehicle moving from the align point to the recovery point.
Automatic recovery method for an unmanned aerial vehicle
2015-12-08
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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