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Motivated by the 2013 International UAV Innovation Grand Prix (UAVGP), we design and implement a real-time vision system for an unmanned helicopter to transfer cargoes between two moving platforms fully autonomously. The key algorithms in the vision system include ellipse detection, ellipse tracking and single-circle-based pose estimation. Comprehensive experiments have verified the efficiency, accuracy...
This paper describes the development of an Unmanned Aerial Vehicle (UAV) with the aid of a vision processing system for indoor navigation. A co-axial radio-controlled (RC) helicopter is upgraded with a customized on-board avionics system which include two Gumstix Linux computer systems as the on-board processors. A camera module is used to capture real time video during the flight to perform real...
Determining the motion of an unmanned aerial vehicle in GPS-denied environments is a challenging work. In this paper, we present a systematic design and implementation of a vision aided motion estimation approach for an unmanned helicopter in such a condition. A hierarchical vision scheme is proposed to detect a structured landmark, and find the correspondence between the 3D reference points and the...
In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model...
An autonomous flight control law applicable to full-envelope was designed in this manuscript for a small-scale unmanned aerial vehicle (UAV) helicopter to fly autonomously. The UAV helicopter was constructed based on a radio-controlled hobby helicopter by assembling an avionic system. The autonomous flight control law applicable to full-envelope was designed using a decentralized design methodology...
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