An Autonomous Solution of the EMAV 2008 Outdoor Gate Crossing
Franz Andert, Lukas Goormann, Florian‐Michael Adolf, Jörg S. Dittrich · elib (German Aerospace Center) · 2010
Gate Crossing was one of the challenges within the 2008 EMAV Outdoor Competition. The ARTIS Team from DLR Braunschweig implemented a full autonomous solution, with the help of GPS localization of the helicopter, a vision based gate detection, and path planning to guide the vehicle through the gates with full autonomy. During the EMAV 2008 flight demonstration, the mission was not completed yet, but after additional research and implementation, several autonomous gate crossings were performed in spring 2009. This work will describe the development towards autonomous flights through gates.