Title :
A Vision-Based Unmanned Helicopter Ship Board Landing System
Author :
Bagen, Wulan ; Hu, Jizhong ; Xu, Yuanming
Author_Institution :
Sch. of Aeronaut. Sci. & Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Abstract :
We design a vision-based system to enable an unmanned helicopter to land on a ship. Based on affine moment invariants, fuzzy recognition, Kalman filter and a PI controller, the helicopter can identify a target, track it, and land on it while the ship is in motion even oscillation. A simulation system, including an unmanned helicopter and a ship, has been developed for test our ideas. Simulation results validate our algorithm. In simulation our algorithm has successfully isolated the influence of helicopter´s oscillation and found the best threshold between performance and precision. The results shown that our algorithm is robust, the tracker can track target in two-dimensions very well.
Keywords :
Kalman filters; PI control; helicopters; remotely operated vehicles; robot vision; Kalman filter; PI controller; affine moment invariants; fuzzy recognition; unmanned helicopter; vision-based system; Equations; Helicopters; Machine vision; Marine vehicles; Object recognition; Optimal control; Robustness; Shape; System testing; Target tracking;
Conference_Titel :
Image and Signal Processing, 2009. CISP '09. 2nd International Congress on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-4129-7
Electronic_ISBN :
978-1-4244-4131-0
DOI :
10.1109/CISP.2009.5305201
