A contribution to vision-based autonomous helicopter flight in urban environments

@article{Muratet2005ACT,
  title={A contribution to vision-based autonomous helicopter flight in urban environments},
  author={Laurent Muratet and St{\'e}phane Doncieux and Yves Briere and Jean-Arcady Meyer},
  journal={Robotics and Autonomous Systems},
  year={2005},
  volume={50},
  pages={195-209}
}
A navigation strategy that exploits the optic flow and inertial information to continuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment. Experimental results demonstrate that the corresponding controller generates cautious behavior, whereby the helicopter tends to stay in the middle of narrow corridors, while its forward velocity is automatically reduced when the obstacle density… CONTINUE READING
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