scholarly journals Vertical landing for micro air vehicles using event-based optical flow

2017 ◽  
Vol 35 (1) ◽  
pp. 69-90 ◽  
Author(s):  
Bas J. Pijnacker Hordijk ◽  
Kirk Y. W. Scheper ◽  
Guido C. H. E. de Croon
Keyword(s):  
Optical Flow ◽  
Micro Air Vehicles ◽  
Vertical Landing ◽  
Event Based ◽  
Air Vehicles

scholarly journals Distance and velocity estimation using optical flow from a monocular camera

2017 ◽  
Vol 9 (3) ◽  
pp. 198-208 ◽  
Author(s):  
Hann Woei Ho ◽  
Guido CHE de Croon ◽  
Qiping Chu
Keyword(s):  
Optical Flow ◽  
Micro Air Vehicles ◽  
Velocity Estimation ◽  
Flight Tests ◽  
Monocular Camera ◽  
Flying Insects ◽  
Outdoor Environments ◽  
Landing Control ◽  
Vehicle Movement ◽  
Air Vehicles

Monocular vision is increasingly used in micro air vehicles for navigation. In particular, optical flow, inspired by flying insects, is used to perceive vehicle movement with respect to the surroundings or sense changes in the environment. However, optical flow does not directly provide us the distance to an object or velocity, but the ratio of them. Thus, using optical flow in control involves nonlinearity problems which add complexity to the controller. To deal with that, we propose an algorithm that estimates distance and velocity of the vehicle based on optical flow measured from a monocular camera and the knowledge of control inputs. This algorithm applies an extended Kalman filter to state estimation and uses the estimates for landing control. We implement and test our algorithm in computer simulation and on board a Parrot AR.Drone 2.0 to demonstrate its feasibility for micro air vehicles landings. Results of the simulation and multiple flight tests show that the algorithm is able to estimate height and velocity of the micro air vehicles accurately, and achieves smooth landings with these estimates, even in windy outdoor environments.

Inertial Optical Flow for Throw-and-Go Micro Air Vehicles

2015 ◽  
Author(s):  
Stephan Weiss ◽  
Roland Brockers ◽  
Sigurd Albrektsen ◽  
Larry Matthies
Keyword(s):  
Optical Flow ◽  
Micro Air Vehicles ◽  
Air Vehicles

Use of MEMS For Micro Air Vehicles

2000 ◽  
Author(s):  
Bruce Carroll ◽  
Norman Fitz-Coy ◽  
Wel Shyy ◽  
Toshikazu Nishida
Keyword(s):  
Micro Air Vehicles ◽  
Air Vehicles

Bio-Mimetic Millimeter-Scale Flapping Wings for Micro Air Vehicles

2009 ◽  
Author(s):  
Christopher Kroninger ◽  
Jeffrey Pulskamp ◽  
Jessica Bronson ◽  
Ronald G. Polcawich ◽  
Eric Wetzel
Keyword(s):  
Micro Air Vehicles ◽  
Flapping Wings ◽  
Air Vehicles
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