Marker-guided auto-landing on a moving platform
| Autor: | Iryna Borshchova, Siu O’Young |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Touchdown Image processing 02 engineering and technology Tracking (particle physics) Visual servoing Object detection Image (mathematics) Power (physics) 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Point (geometry) Computer vision Artificial intelligence business |
| Zdroj: | International Journal of Intelligent Unmanned Systems. 5:28-42 |
| ISSN: | 2049-6427 |
| Popis: | Purpose The purpose of this paper is to develop a method for a vision-based automatic landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving platform. The landing system must be highly accurate and meet the size, weigh, and power restrictions of a small UAV. Design/methodology/approach The vision-based landing system consists of a pattern of red markers placed on a moving target, an image processing algorithm for pattern detection, and a servo-control for tracking. The suggested approach uses a color-based object detection and image-based visual servoing. Findings The developed prototype system has demonstrated the capability of landing within 25 cm of the desired point of touchdown. This auto-landing system is small (100×100 mm), light-weight (100 g), and consumes little power (under 2 W). Originality/value The novelty and the main contribution of the suggested approach are a creative combination of work in two fields: image processing and controls as applied to the UAV landing. The developed image processing algorithm has low complexity as compared to other known methods, which allows its implementation on general-purpose low-cost hardware. The theoretical design has been verified systematically via simulations and then outdoors field tests. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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