Autonomous Ship-board Landing using Monocular Vision
نویسندگان
چکیده
This paper describes a system for landing a vertical take-off and landing vehicle on a moving deck using a monocular vision system and inertial measurement unit. Data from the vision system and IMU are used to compute an estimate of relative deck position, and a touchdown trajectory generator based on tau-guidance is used to compute a path to landing. A trajectory-following controller follows the landing path. Computing relative deck state means that GPS is not required. To tests the system, landings to both a stationary deck and a moving deck were done in an indoor flight facility using a hexacopter as flight platform. Truth data was collected using a motion capture system. In all cases tested the vehicle landed successfully.
منابع مشابه
Autonomous Landing of MAVs on an Arbitrarily Textured Landing Site Using Onboard Monocular Vision
This paper presents a novel solution for micro aerial vehicles (MAVs) to autonomously search for and land on an arbitrary landing site using realtime monocular vision. The autonomous MAV is provided with only one single reference image of the landing site with an unknown size before initiating this task. We extend a well-known monocular visual SLAM algorithm that enables autonomous navigation o...
متن کاملTowards Autonomous Landing of a Quadrotor using Monocular SLAM Techniques
Use of Unmanned Aerial Vehicles have seen enormous growth in recent years due to the advances in related scientific and technological fields. This fact combined with decreasing costs of using UAVs enables their use in new application areas. Many of these areas are suitable for miniature scale UAVs Micro Air Vehicles (MAV) which have the added advantage of portability and ease of deployment. One...
متن کاملAutonomous landing and ingress of micro-air-vehicles in urban environments based on monocular vision
Unmanned micro air vehicles (MAVs) will play an important role in future reconnaissance and search and rescue applications. In order to conduct persistent surveillance and to conserve energy, MAVs need the ability to land, and they need the ability to enter (ingress) buildings and other structures to conduct reconnaissance. To be safe and practical under a wide range of environmental conditions...
متن کاملSelecting the Visual Landing Markers Located on a Ship Deck for UAV Automatic Landing
Of all the flight modes of unmanned aerial vehicles (UAVs), the landing approach and the landing itself are the most difficult and dangerous ones. To perform an automatic landing on a ship deck using a computer vision system (CVS), a UAV must analyze the visual landing markers located on the deck. When the UAV is about to start landing, these markers must be clearly visible and discernible. The...
متن کاملAn Onboard Monocular Vision System for Autonomous Takeoff, Hovering and Landing of a Micro Aerial Vehicle
In this paper, we present an onboard monocular vision system for autonomous takeoff, hovering and landing of a Micro Aerial Vehicle (MAV). Since pose information with metric scale is critical for autonomous flight of a MAV, we present a novel solution to six degrees of freedom (DOF) pose estimation. It is based on a single image of a typical landing pad which consists of the letter “H” surround...
متن کامل