This paper describes the development, flight-testing and demonstration of technologies for the autonomous landing of a Yamaha RMAX helicopter at noncooperative sites without the aid of GPS. The Yamaha RMAX used for these flight trials has been modified include stereo cameras, a laser range finder, and an avionics payload. Machine vision stereo range mapping is used to generate an accurate terrain representation, and a safe landing area determination algorithm is used select the safest landing point within the terrain. machine vision self-localization system is used measure the helicopter position during the descent and landing when GPS is unavailable. The software and hardware architecture of the flight system is presented and each system component is described. Results and lessons learned from the flight evaluation and optimization of the individual components are reported as well as the overall system performance with respect a set of objective metrics for the autonomous landing flight trails.


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    Title :

    Precision Autonomous Landing Adaptive Control Experiment (PALACE)


    Contributors:

    Publication date :

    2006


    Size :

    28 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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