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Flexible Wing Base Micro Aerial Vehicles: Vision-Guided Flight Stability and Autonomy for Micro Air VehiclesSubstantial progress has been made recently towards design building and test-flying remotely piloted Micro Air Vehicle's (MAVs). We seek to complement this progress in overcoming the aerodynamic obstacles to.flight at very small scales with a vision stability and autonomy system. The developed system based on a robust horizon detection algorithm which we discuss in greater detail in a companion paper. In this paper, we first motivate the use of computer vision for MAV autonomy arguing that given current sensor technology, vision may he the only practical approach to the problem. We then briefly review our statistical vision-based horizon detection algorithm, which has been demonstrated at 30Hz with over 99.9% correct horizon identification. Next we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feed-back controller for self-stabilized flight, and report results on vision autonomous flights of duration exceeding ten minutes.
Document ID
20020023527
Acquisition Source
Langley Research Center
Document Type
Other
Authors
Ettinger, Scott M. (Florida Univ. Gainesville, FL United States)
Nechyba, Michael C. (Florida Univ. Gainesville, FL United States)
Ifju, Peter G. (Florida Univ. Gainesville, FL United States)
Wazak, Martin (NASA Langley Research Center Hampton, VA United States)
Date Acquired
September 7, 2013
Publication Date
January 1, 2002
Subject Category
Aircraft Stability And Control
Funding Number(s)
CONTRACT_GRANT: NCC1-397
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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