Name
Abstract | ||
|---|---|---|
Autonomous landing of quad rotor UAV on a maritime vessel is a challenging task, as low cost sensors, unknown movements of the landing surface, and external disturbances make it difficult to generate a relative pose estimate with sufficient accuracy for landing. In this work, we propose an architecture that avoids sensor limitations while allowing for accurate relative pose estimation, even in the presence of wind disturbances. The final landing sequence is performed entirely in the body-fixed inertial frame so that noisy measurements from the GPS and magnetometer sensors do not degrade the relative estimation accuracy. Simulation results of the entire system architecture are presented, as well as experimental results of visual landing pad tracking for representative motions, which demonstrate the validity of the approach. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/CRV.2014.13 | CRV |
Keywords | Field | DocType |
autonomous aerial vehicles,helicopters,image motion analysis,mobile robots,object tracking,pose estimation,robot vision,sensors,GPS sensor,Global Positioning System,autonomous maritime landings,body-fixed inertial frame,landing sequence,landing surface,low cost sensors,low-cost VTOL aerial vehicles,magnetometer sensors,maritime vessel,pose estimation,quadrotor UAV,representative motions,vertical take-off and landing vehicles,visual landing pad tracking,wind disturbance,autonomous landing,mobile robotics,quadrotor,target-tracking,vision | Quad rotor,Inertial frame of reference,Computer vision,Architecture,Computer science,Pose,Global Positioning System,Artificial intelligence,Systems architecture | Conference |
Citations | PageRank | References |
5 | 0.47 | 6 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kevin Ling | 1 | 5 | 0.47 |
| Derek Chow | 2 | 5 | 0.47 |
| Arun Das | 3 | 49 | 5.98 |
| Steven Lake Waslander | 4 | 443 | 46.89 |