A biologically inspired, vision-based guidance system for automatic landing of a fixed-wing aircraft

Thurrowgood, Saul, Moore,Richard J. D., Soccol, Dean, Knight, Michael and Srinivasan, Mandyam V. (2014) A biologically inspired, vision-based guidance system for automatic landing of a fixed-wing aircraft. Journal of Field Robotics, 31 4: 699-727. doi:10.1002/rob.21527


Author Thurrowgood, Saul
Moore,Richard J. D.
Soccol, Dean
Knight, Michael
Srinivasan, Mandyam V.
Title A biologically inspired, vision-based guidance system for automatic landing of a fixed-wing aircraft
Journal name Journal of Field Robotics   Check publisher's open access policy
ISSN 1556-4959
1556-4967
Publication date 2014
Year available 2014
Sub-type Article (original research)
DOI 10.1002/rob.21527
Open Access Status
Volume 31
Issue 4
Start page 699
End page 727
Total pages 29
Place of publication Hoboken, NJ United States
Publisher John Wiley and Sons Inc.
Collection year 2015
Language eng
Subject 2207 Control and Systems Engineering
1706 Computer Science Applications
Abstract We describe a guidance system for achieving automatic landing of a fixed-wing aircraft in unstructured outdoor terrain, using onboard video cameras. The system uses optic flow information for sensing and controlling the height above the ground, and information on the horizon profile, also acquired by the vision system for stabilizing roll and controlling pitch, and additionally, if required, for the control and stabilization of yaw and flight direction. At low heights, when optic flow is unreliable, stereo information is used to guide descent close to touchdown. While rate gyro information is used to augment attitude stabilization in one of the designs, this is not mandatory and it can be replaced by visual information. Smooth, safe landings are achieved with a success rate of 92.5%. The system does not emit active radiation and does not rely on any external information such as a global positioning system or an instrument landing system.
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ

 
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