A vision based onboard approach for landing and position control of an autonomous multirotor UAV in GPS-denied environments

Author

Lange, Sven ; Sünderhauf, Niko ; Protzel, Peter

Author_Institution

Dept. of Electr. Eng. & Inf. Technol., Chemnitz Univ. of Technol., Chemnitz, Germany

fYear

2009

fDate

22-26 June 2009

Firstpage

1

Lastpage

6

Abstract

We describe our work on multirotor UAVs and focus on our method for autonomous landing and position control. The paper describes the design of our landing pad and the vision based detection algorithm that estimates the 3D-position of the UAV relative to the landing pad. A cascaded controller structure stabilizes velocity and position in the absence of GPS signals by using a dedicated optical flow sensor. Practical experiments prove the quality of our approach.

Keywords

aerospace robotics; aircraft control; cascade control; helicopters; mobile robots; position control; remotely operated vehicles; robot vision; stability; velocity control; 3D-position estimation; GPS-denied environments; autonomous landing; autonomous multirotor UAV; cascaded controller structure; dedicated optical flow sensor; landing pad; multirotor UAVs; position control; position stabilitization; velocity stabilitization; vision based detection algorithm; vision based onboard approach; Batteries; Global Positioning System; Image motion analysis; Magnetic sensors; Optical sensors; Payloads; Position control; Robustness; Sensor fusion; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 2009. ICAR 2009. International Conference on

Conference_Location

Munich

Print_ISBN

978-1-4244-4855-5

Electronic_ISBN

978-3-8396-0035-1

Type

conf

Filename

5174709