Precise quadrotor autonomous landing with SRUKF vision perception

Author

Shuo Yang ; Jiahang Ying ; Yang Lu ; Zexiang Li

Author_Institution

Dept. of Electron. & Comput. Eng., Hong Kong Univ. of Sci. & Technol., Hong Kong, China

fYear

2015

fDate

26-30 May 2015

Firstpage

2196

Lastpage

2201

Abstract

We present an autonomous quadrotor system that is able to perform high precision landing on small platform in both indoor and outdoor environment. Its taking off and landing processes are fully autonomous. We use vision sensor to detect the landing platform, and the vision measurement is enhanced by IMU with SRUKF based sensor fusion method. All computation are done real-time and on-board. We implement the system and carry a series of experiments under various environmental conditions. The experiment results confirm the robustness and precision of our system in real use cases.

Keywords

Kalman filters; autonomous aerial vehicles; helicopters; mobile robots; nonlinear filters; position control; robot vision; sensor fusion; telerobotics; IMU; SRUKF vision perception; autonomous quadrotor system; high precision landing; quadrotor autonomous landing; sensor fusion method; unscented Kalman filter; vision sensor; Cameras; Estimation; Noise; Optical sensors; Robot sensing systems; Rotation measurement; Software;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2015 IEEE International Conference on

Conference_Location

Seattle, WA

Type

conf

DOI

10.1109/ICRA.2015.7139489

Filename

7139489