Location

Orbital ATK Conference Center

Start Date

5-7-2018 9:20 AM

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.

Comments

Session 2

Available for download on Tuesday, May 07, 2019

Share

COinS
 
May 7th, 9:20 AM

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.