TY - GEN
T1 - Quadrotors' Low-cost Vision-based Autonomous Landing Architecture on a Moving Platform
AU - Jiang, Jiaqi
AU - Qi, Yuhua
AU - Ibrahim, Muhammad
AU - Wang, Jianan
AU - Wang, Chunyan
AU - Shan, Jiayuan
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/18
Y1 - 2018/12/18
N2 - In this paper, a low-cost vision-based autonomous landing architecture for an unmanned aerial vehicle (UAV) on a moving platform is presented. First, a novel landing pad was designed for a monocular camera to robustly detect the pad in both high and low altitudes. In order to solve mirror effect and occasional misidentification, a 3D points cluster algorithm for relative position estimation is presented. Second, the dynamics of the quadrotor is simplified for this lading task and a PD controller is designed based on the estimated relative position. Finally, the low-cost system architecture of the quadrotor and the experiment results are both presented to show the effectiveness of the proposed method.
AB - In this paper, a low-cost vision-based autonomous landing architecture for an unmanned aerial vehicle (UAV) on a moving platform is presented. First, a novel landing pad was designed for a monocular camera to robustly detect the pad in both high and low altitudes. In order to solve mirror effect and occasional misidentification, a 3D points cluster algorithm for relative position estimation is presented. Second, the dynamics of the quadrotor is simplified for this lading task and a PD controller is designed based on the estimated relative position. Finally, the low-cost system architecture of the quadrotor and the experiment results are both presented to show the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=85060810403&partnerID=8YFLogxK
U2 - 10.1109/ICARCV.2018.8581116
DO - 10.1109/ICARCV.2018.8581116
M3 - Conference contribution
AN - SCOPUS:85060810403
T3 - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
SP - 448
EP - 453
BT - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Y2 - 18 November 2018 through 21 November 2018
ER -