Skip to content

A vision-based strategy for autonomous aerial refueling tasks

Research output: Contribution to journalArticle

  • Carol Martinez Luna
  • Tom S Richardson
  • Peter R Thomas
  • Jonathan L du Bois
  • Pascual Campoy
Original languageEnglish
Pages (from-to)876-895
Number of pages20
JournalRobotics and Autonomous Systems
Volume61
Issue number8
DOIs
DatePublished - Aug 2013

Abstract

Autonomous aerial refuelling is a key enabling technology for both manned and unmanned aircraft where extended flight duration or range are required. The results presented within this paper offer one potential vision based sensing solution, together with a unique test environment. A hierarchical visual tracking algorithm based on direct methods is proposed and developed for the purposes of tracking a drogue during the capture stage of autonomous aerial refuelling, and of estimating its 3D position. Intended to be applied in real time to a video stream from a single monocular camera mounted on the receiver aircraft, the algorithm is shown to be highly robust, and capable of tracking large, rapid drogue motions within the frame of reference. The proposed strategy has been tested using a complex robotic testbed and with actual flight hardware consisting of a full size probe and drogue. Results show that the vision tracking algorithm can detect and track the drogue at real-time frame rates of more than thirty frames per second, obtaining a robust position estimation even with strong motions and multiple occlusions of the drogue.

    Research areas

  • Autonomous aerial refueling, Probe and drogue refueling, Unmanned aerial vehicles, Visual tracking, Computer vision, Direct methods, UAVS, SIMULATION

View research connections

Related faculties, schools or groups