Emergency Landing of Small Unmanned Aerial Systems
Session 2
Description
An algorithm for vision-based emergency landing of a multirotor is outlined. Using a recently developed real-time visual multiple target tracker, a potential fields-based obstacle avoidance algorithm is employed to find the “safest” part of a pre-determined landing site. A sliding mode controller for image-based visual servoing is designed that allows globally asymptotic tracking of a line of sight vector and the optical axis. The presented forced landing scheme allows for quick emergency landings to be performed in populated environments with moving ground obstacles.
Emergency Landing of Small Unmanned Aerial Systems
Orbital ATK Conference Center
An algorithm for vision-based emergency landing of a multirotor is outlined. Using a recently developed real-time visual multiple target tracker, a potential fields-based obstacle avoidance algorithm is employed to find the “safest” part of a pre-determined landing site. A sliding mode controller for image-based visual servoing is designed that allows globally asymptotic tracking of a line of sight vector and the optical axis. The presented forced landing scheme allows for quick emergency landings to be performed in populated environments with moving ground obstacles.