Idioma:

Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle

Keipour, Azarakhsh ; Pereira, Guilherme A. S. ; Bonatti, Rogerio ; Garg, Rohit ; Rastogi, Puru ; Dubey, Geetesh ; Scherer, Sebastian

Sensors (Basel, Switzerland), 2022-08, Vol.22 (17), p.6549 [Periódico revisado por pares]

Basel: MDPI AG

Texto completo disponível

Citações Citado por

Enviar para

Título:
Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle
Autor: Keipour, Azarakhsh ; Pereira, Guilherme A. S. ; Bonatti, Rogerio ; Garg, Rohit ; Rastogi, Puru ; Dubey, Geetesh ; Scherer, Sebastian
Assuntos: aerial robotics ; Altitude ; autonomous landing ; Cameras ; Communication ; Comparative analysis ; Controllers ; Drone aircraft ; Ground stations ; Indoor environments ; Landing ; Methods ; monocular vision ; Motion capture ; Robotics ; Sensors ; Servocontrol ; Unmanned aerial vehicles ; Vehicles ; Velocity ; Visual control ; visual servoing
É parte de: Sensors (Basel, Switzerland), 2022-08, Vol.22 (17), p.6549
Notas: ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
The publication was written prior to A. Keipour joining Amazon. During the realization of this work, he was affiliated with the Robotics Institute at Carnegie Mellon University.
Descrição: Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in image space. The control laws generate velocity commands in all three dimensions, eliminating the need for a separate height controller. The method has shown the ability to approach and land on the moving deck in simulation, indoor and outdoor environments, and compared to the other available methods, it has provided the fastest landing approach. Unlike many existing methods for landing on fast-moving platforms, this method does not rely on additional external setups, such as RTK, motion capture system, ground station, offboard processing, or communication with the vehicle, and it requires only the minimal set of hardware and localization sensors. The videos and source codes are also provided.
Editor: Basel: MDPI AG
Idioma: Inglês

Voltar para lista de resultados

Realização: Logos de Redes Sociais:

Visual Servoing Approach to Autonomous UAV Landing on a Moving Vehicle

Keipour, Azarakhsh ; Pereira, Guilherme A. S. ; Bonatti, Rogerio ; Garg, Rohit ; Rastogi, Puru ; Dubey, Geetesh ; Scherer, Sebastian

Basel: MDPI AG

Buscando em bases de dados remotas. Favor aguardar.