Two Seconds to Touchdown - Vision-Based Controlled Forced Landing


The use of UAVs in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the task in which a UAV is performing an inspection on a set of power lines and an emergency situation occurs requiring the UAV to avoid the lines and then find a safe landing area (a forced landing). This problem is approached using vision, where the vision system acts as the overall controller sending velocity commands to a low-level controller. The use of vision here allows the 2D position of the UAV to be updated by an image-based signal where the error to minimize is the location of a feature or set of features in the image. The system has been tested in a air vehicle simulator (AVS) - a cable array robot which allows to simulate and control three DOF (translation) of a UAV. Results obtained from tests in a scale scenario show the feasibility of this approach

DOI: 10.1109/IROS.2006.281638

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@article{Alvarez2006TwoST, title={Two Seconds to Touchdown - Vision-Based Controlled Forced Landing}, author={Luis Mej{\'i}as Alvarez and Pascual Campoy Cervera and Kane Usher and Jonathan M. Roberts and Peter I. Corke}, journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2006}, pages={3527-3532} }