Development of 3D Vision Enabled Small-scale Autonomous Helicopter

Author

Yu, Zhenyu ; Celestino, Demian ; Nonami, Kenzo

Author_Institution

Dept. of Electron. & Mech., Chiba Univ.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2912

Lastpage

2917

Abstract

This paper presents the development of vision based autonomous helicopter at Chiba University. The platform is designed to enable autonomous flight of a small-scale helicopter in unstructured environment. 3D vision system is chosen for the perception and measurement purpose. The whole system is designed with the consideration of payload, hardware availability, and software performance. The hardware is built with COTS (commercially off the shelf) products. The core control software is built on RTLinux for its real time performance. Based on the developed platform, we have studied the application of vision system for landing control. The experimental results are shown in the paper

Keywords

Linux; aerospace robotics; control engineering computing; remotely operated vehicles; robot vision; telerobotics; 3D vision system; RTLinux; commercially off the shelf products; core control software; landing control; small-scale autonomous helicopter; Aerospace electronics; Application software; Availability; Hardware; Helicopters; Machine vision; Payloads; Servomotors; Software performance; Unmanned aerial vehicles; 3D Vision; Autonomous helicopter platform; Landing control; Safe area detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282143

Filename

4058837