TY - JOUR
T1 - The Jet Propulsion Laboratory Autonomous Helicopter Testbed
T2 - A platform for planetary exploration technology research and development
AU - Montgomery, James F.
AU - Johnson, Andrew E.
AU - Roumeliotis, Stergios I.
AU - Matthies, Larry H.
PY - 2006/3
Y1 - 2006/3
N2 - The Jet Propulsion Laboratory Autonomous Helicopter Testbed (AHT), an aerial robot based upon a radio-controlled model helicopter, provides a small low-cost platform for developing and field testing new technologies needed for future space missions. The AHT helps cover the test space in a complementary fashion to other methods, such as rocket sleds or parachute drops. The AHT design and implementation is presented as well as experimental results and milestones achieved since its creation in 2001. In addition, technologies we are developing and testing are described. These include image-based hazard detection and avoidance algorithms for safe landing in dangerous terrain and an extended Kalman filter that augments inertial navigation with image-based motion estimates to enable pin-point landing.
AB - The Jet Propulsion Laboratory Autonomous Helicopter Testbed (AHT), an aerial robot based upon a radio-controlled model helicopter, provides a small low-cost platform for developing and field testing new technologies needed for future space missions. The AHT helps cover the test space in a complementary fashion to other methods, such as rocket sleds or parachute drops. The AHT design and implementation is presented as well as experimental results and milestones achieved since its creation in 2001. In addition, technologies we are developing and testing are described. These include image-based hazard detection and avoidance algorithms for safe landing in dangerous terrain and an extended Kalman filter that augments inertial navigation with image-based motion estimates to enable pin-point landing.
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U2 - 10.1002/rob.20110
DO - 10.1002/rob.20110
M3 - Article
AN - SCOPUS:33745700792
SN - 1556-4959
VL - 23
SP - 245
EP - 267
JO - Journal of Field Robotics
JF - Journal of Field Robotics
IS - 3-4
ER -