Outdoor Autonomous Landing on a Moving Platform for Quadrotors using an Omnidirectional Camera

被引：0
|
作者：
Kim, JeongWoon [1 ]
Jung, Yeondeuk [1 ]
Lee, Dasol [1 ]
Shim, David Hyunchul [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Aerosp Engn, Taejon 305701, South Korea
来源：
2014 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS) | 2014年
关键词：
VEHICLE; TARGET;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper proposes a vision-based target following and landing system for a quadrotor vehicle on a moving platform. The system is consisted with vision-based landing site detection and locating algorithm using an omnidirectional lens. Latest smartphone was attached on the UAV and served as an on-board image acquisition and process unit. Measurements from the omnidirectional camera are combined with a proper dynamic model in order to estimate position and velocity of the moving platform. An adaptive control scheme was implemented on the flight computer to deal with unknown disturbances in outdoor environment. The system was validated on a quadrotor UAV and the vehicle successfully landed on the moving platform in outdoor flight tests.(1)
引用
收藏
页码：1243 / 1252
页数：10
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