This paper presents a vision-based navigation strategy for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) using a single embedded camera observing natural landmarks. In the proposed approach, images of the environment are first sampled, stored and organized as a set of ordered key images (visual path) which provides a visual memory of the environment. The robot navigation task is then defined as a concatenation of visual path subsets (called visual route) linking the current observed image and a target image belonging to the visual memory. The UAV is controlled to reach each image of the visual route using a vision-based control law adapted to its dynamic model and without explicitly planning any trajectory. This framework is largely substantiated by experiments with an X4-flyer equipped with a fisheye camera.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Vision-based navigation of unmanned aerial vehicles


    Additional title:

    Videobasierte Navigation unbemannter Luftfahrzeuge


    Contributors:

    Published in:

    Publication date :

    2010


    Size :

    11 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Vision-based Navigation of Unmanned Aerial Vehicles

    Gahlot, Harsh / Kumar, Abhishek / Kumar, Piyush et al. | IEEE | 2024




    A vision-based navigation system for Unmanned Aerial Vehicles (UAVs)

    Al-Kaff, Abdulla Hussein / Armingol Moreno, José María / Escalera Hueso, Arturo de la | BASE | 2019

    Free access