Outdoor autonomous landing on a moving platform for quadrotors using an omnidirectional camera

Author

JeongWoon Kim ; Yeondeuk Jung ; Lee, Daewoo ; Shim, David Hyunchul

Author_Institution

Dept. of Aerosp. Eng., KAIST, Daejeon, South Korea

fYear

2014

fDate

27-30 May 2014

Firstpage

1243

Lastpage

1252

Abstract

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 tests¹.

Keywords

adaptive control; aircraft control; autonomous aerial vehicles; cameras; helicopters; adaptive control scheme; dynamic model; flight computer; landing system; moving platform; omnidirectional camera; omnidirectional lens; on-board image acquisition; outdoor autonomous landing; outdoor flight test; process unit; quadrotor UAV; quadrotor vehicle; quadrotors; smartphone; vision-based landing site detection; vision-based target; Cameras; Equations; Lenses; Mathematical model; Navigation; Vectors; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2014 International Conference on

Conference_Location

Orlando, FL

Type

conf

DOI

10.1109/ICUAS.2014.6842381

Filename

6842381