Vision-Only Aircraft Flight Control Methods and Test Results

Proctor, Alison A.; Johnson, Eric N.

doi:10.2514/6.2004-5351

Cited by 28 publications

(18 citation statements)

References 8 publications

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“…A steady gain matrix, L S , corresponding to an infinite time interval [13] was also calculated. The control input for model M j is given by (18) for the set of models (4) and associated time intervals (5). These model-specific control commands were combined by (17) and then applied to the system.…”

Section: Multiple Model Methodsmentioning

confidence: 99%

“…2 demonstrates this concept with an example trajectory partitioned into a set models M, defined by (4), that represent the aircraft's motions over an associated set of time intervals τ, given by (5). These models are also functions of the states and controls.…”

Section: A Aircraft Equations Of Motionmentioning

confidence: 98%

“…Methods to extract meaningful scene information for automated landings have also been shown for fixed-wing aircraft. In [3] it was assumed that the landing site was highly structured, while in [4] and [5] a simple visual target was used. Accurate determination of a landing site, whether prepared or not, is an important aspect for safe, automated UAV landings.…”

Section: Introductionmentioning

confidence: 99%

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Localization and perching maneuver tracking for a morphing UAV

Hurst

Wickenheiser

Garcia

2008

2008 IEEE/ION Position, Location and Navigation Symposium

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Autonomous vehicle control requires knowledge of the vehicle's states that often can only be estimated using sensor measurements. Several sensor types are typically used for the estimation process and each type often has its own sensing characteristics.This paper considers a novel morphing unmanned aerial vehicle (UAV) that is capable of changing its configuration in-flight and using aerodynamic forces to perform a perching maneuver. This maneuver could allow the UAV to perform planted landings and enable the vehicle to land in new locations, such as on building rooftops. However, this task requires the system controller to have accurate knowledge of vehicle states, especially with respect to the landing location. Visual sensors are required for identification of the landing site and to provide the relative positioning information that is critical for autonomous landings when uncertainty exists in the landing coordinates. Such information is unavailable from either a global navigation satellite system (GNSS) or inertial measurements to sufficient accuracy. The key objective of this research is to develop a foundation for the control of an aircraft that is highly nonlinear. This paper investigates the use of a set of linear motion models to represent the full range of nonlinear dynamics for an aircraft performing a perching maneuver. Simulation data are presented and their results discussed.

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Section: Multiple Model Methodsmentioning

confidence: 99%

Section: A Aircraft Equations Of Motionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Localization and perching maneuver tracking for a morphing UAV

Hurst

Wickenheiser

Garcia

2008

2008 IEEE/ION Position, Location and Navigation Symposium

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“…Many other have followed in using visual servoing schemes for fixed/rotary-wings aircraft, and even airships, for different goals: autonomous aerial refueling [13] [15], stabilization with respect to a target [11] [1], linear structure following [22] [18] [14] and, naturally, automatic approach and landing [20] [17], [19] [16] [3] [4]. Most of the proposed schemes are PBVS, where the camera is used as a pose sensor along with a GPS, inertial sensors or even air data [9] in a filtering method.…”

mentioning

confidence: 99%

Homography-based visual servoing of an aircraft for automatic approach and landing

Gonçalves

Azinheira

Rives

2010

2010 IEEE International Conference on Robotics and Automation

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This paper proposes the Euclidean homography matrix as visual feature in an image-based visual servoing scheme in order to control an aircraft along the approach and landing phase. With a trajectory defined in the image space by a sequence of equidistant key images along the glidepath, an interpolation in the homography space is also proposed in order to reduce the database size and ensure the required smoothness of the control task. In addition, a pan-tilt control was taken into account to respect the dynamics of the aircraft during manoeuvres and in the presence of wind perturbations. An optimal control design based on the linearized model of the aircraft dynamics is then consider to cancel the visual error function. To demonstrate the proposed concept, simulation results under realistic atmospheric disturbances are presented.

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“…Flight tests of a vision-based autonomous landing relying on feature points on the runway were already referred by [1] whilst [2] present a feasibility study on pose determination for an aircraft night landing based on a model of the Approach Lighting System (ALS). Many others have followed in using vision-based control on fixed/rotary wings aircraft, and even airships, in several goals since autonomous aerial refueling ( [3], [4]), stabilization with respect to a target ( [5], [6]), linear structures following ( [7], [8], [9]) and, obviously, automatic landing ( [10], [11], [12], [13], [14]). In these problems, different types of visual features were considered including geometric model of the target, points, corners of the runway, binormalized Plucker coordinates, the three parallel lines of the runway (left, center and right sides) and the two parallel lines of the runway along with the horizon line and the vanishing point.…”

Section: Introductionmentioning

confidence: 99%

Vision-Based Automatic Approach and Landing of Fixed-Wing Aircraft Using a Dense Visual Tracking

Gonçalves¹,

Azinheira²,

Rives

2011

Informatics in Control Automation and Robotics

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Abstract. This paper presents a feasibility study of a vision-based autonomous approach and landing for an aircraft using a direct visual tracking method. Auto-landing systems based on the Instrument Landing System (ILS) have already proven their importance through decades but general aviation stills without cost-effective solutions for such conditions. However, vision-based systems have shown to have the adequate characteristics for the positioning relatively to the landing runway. In the present paper, rather than points, lines or other features susceptible of extraction and matching errors, dense information is tracked in the sequence of captured images using an Efficient Second-Order Minimization (ESM) method. An optimal control design is then proposed using the homography matrix as visual information in two distinct approaches: position-based visual servoing (PBVS) and image-based visual servoing (IBVS). To illustrate the proposed concepts, simulation results under realistic atmospheric disturbances are presented.

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Vision-Only Aircraft Flight Control Methods and Test Results

Cited by 28 publications

References 8 publications

Localization and perching maneuver tracking for a morphing UAV

Localization and perching maneuver tracking for a morphing UAV

Homography-based visual servoing of an aircraft for automatic approach and landing

Vision-Based Automatic Approach and Landing of Fixed-Wing Aircraft Using a Dense Visual Tracking

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