| 摘要 |
This present invention describes a novel vision-based control strategy for autonomous cruise flight in possibly cluttered environments such as—but not limited to—cities, forests, valleys, or mountains. The present invention is to provide an autopilot that relies exclusively on visual and gyroscopic information, with no requirement for explicit state estimation nor additional stabilisation mechanisms. This approach is based on a method of controlling an aircraft having a longitudinal axis comprising the steps of: a) defining at least three viewing directions spread within frontal visual field of view, b) acquiring rotation rates of the aircraft by rotation detection means, c) acquiring visual data in at least said viewing directions by at least one imaging device, d) determining translation-induced optic flow in said viewing directions based on the rotation rates and the visual data, e) estimating the proximity of obstacles in said viewing directions based on at least the translation-induced optic flow, f) for each controlled axes (pitch, roll and/or yaw), defining for each proximity, a conversion function to produce a converted proximity related to said controlled axe, g) determining a control signal for each controlled axes by combining the corresponding converted proximities, h) using said control signals to drive the controlled axes of the aircraft.
|
