This paper details experiments for autonomous take off, hovering above a landing place and autonomous landing. Our visual tracking approach differs from other methods by using an inexpensive Wii remote camera, i.e., commodity consumer hardware. All processing is done with an onboard microcontroller and the system does not require stationary sensors. The only requirements are a stationary pattern of four infrared spots at the start and landing site and a roll and pitch attitude estimation of sufficient quality, provided by an separate inertial measurement unit.
[pdf]
@inproceedings{Wenzel2009b,
author = {Karl Engelbert Wenzel and Andreas Zell},
title = {{Automatic Take Off, Hovering and Landing Control for Miniature Helicopters
with Low-Cost Onboard Hardware}},
booktitle = {Autonome Mobile Systeme 2009},
year = {2009},
pages = {73-80},
address = {Karlsruhe, Germany},
month = {December 3-4},
publisher = {KIT},
abstract = {This paper details experiments for autonomous take off, hovering above
a landing place and autonomous landing. Our visual tracking approach
differs from other methods by using an inexpensive Wii remote camera,
i.e., commodity consumer hardware. All processing is done with an
onboard microcontroller and the system does not require stationary
sensors. The only requirements are a stationary pattern of four infrared
spots at the start and landing site and a roll and pitch attitude
estimation of sufficient quality, provided by an separate inertial
measurement unit.},
isbn = {978-3642102837},
url = {http://www.cogsys.cs.uni-tuebingen.de/publikationen/2009/wenzel2009_WiiStartLand.pdf}
}