An Approach Toward Visual Autonomous Ship Board Landing of a VTOL UAV

Sánchez-López, José Luis; Pestana, Jesús; Saripalli, Srikanth; Campoy, Pascual

doi:10.1007/s10846-013-9926-3

Cited by 89 publications

(60 citation statements)

References 15 publications

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“…In addition, methods using stereo camera are limited in their perception range. A monocular camera would be preferred for MAVs, also due to its light weight and low power consumption [5], [6].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

Croon

Kampen

et al. 2018

IEEE Trans. Robot.

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Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential decay of both height and vertical velocity, and allows for smooth and safe landings. However, the presence of noise and delay in obtaining flow divergence estimates will cause instability of the landing when the control gains are not adapted to the height. In this paper, we propose a strategy that deals with this fundamental problem of optical flow control. The key to the strategy lies in the use of a recent theory that allows the MAV to see distance by means of its control instability. At the start of a landing, the MAV detects the height by means of an oscillating movement and sets the control gains accordingly. Then, during descent, the gains are reduced exponentially, with mechanisms in place to reduce or increase the gains if the actual trajectory deviates too much from an ideal constant divergence landing. Real-world experiments demonstrate stable landings of the MAV in both indoor and windy outdoor environments. Index Terms-Biologically-inspired robots, aerial robotics, visual servoing, optical flow, autonomous landing.H. W. Ho is with the Micro Air Vehicle laboratory

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Section: Introductionmentioning

confidence: 99%

Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

Croon

Kampen

et al. 2018

IEEE Trans. Robot.

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“…The significance of the processing frame rate is justified due to the high speed landing platforms, under which our implementation succeeded with following and landing upon. In several other studies, either the platform velocity was low, or the size of the moving platform was considerably large in order to enable a safe landing [32,33,34,35]. To the best of our knowledge, there are only a few studies that propose techniques for automated UAV landing on fast moving (i.e., >20 km/h) cars [35].…”

Section: Discussionmentioning

confidence: 99%

“…of platforms are examined. The size of a UAV landing onboard a ship (i.e., [32,33,34,35]) is several levels of magnitude smaller than the available landing space. At the same time, to the best of our knowledge, there are only a few studies that propose techniques for automated UAV landing on fast moving (i.e., >20 km/h) cars.…”

Section: Introductionmentioning

confidence: 99%

Towards Autonomous Modular UAV Missions: The Detection, Geo-Location and Landing Paradigm

Kyristsis

Antonopoulos

Chanialakis

et al. 2016

Sensors

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Nowadays, various unmanned aerial vehicle (UAV) applications become increasingly demanding since they require real-time, autonomous and intelligent functions. Towards this end, in the present study, a fully autonomous UAV scenario is implemented, including the tasks of area scanning, target recognition, geo-location, monitoring, following and finally landing on a high speed moving platform. The underlying methodology includes AprilTag target identification through Graphics Processing Unit (GPU) parallelized processing, image processing and several optimized locations and approach algorithms employing gimbal movement, Global Navigation Satellite System (GNSS) readings and UAV navigation. For the experimentation, a commercial and a custom made quad-copter prototype were used, portraying a high and a low-computational embedded platform alternative. Among the successful targeting and follow procedures, it is shown that the landing approach can be successfully performed even under high platform speeds.

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“…In [11] present the design and implementation of a vision based autonomous landing algorithm using a downward looking camera. To demonstrate the efficacy of algorithms emulate the dynamics of the ship-deck, for various sea states and different ships using a six degrees of freedom motion platform.…”

Section: Electromechanical Maintenance Systems For Unmanned Aerial Vementioning

confidence: 99%

Classification of robotic battery service systems for unmanned aerial vehicles

2018

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Abstract.Existing examples of prototypes of ground-based robotic platforms used as a landing site for unmanned aerial vehicles are considered. In some cases, they are equipped with a maintenance mechanism for the power supply module. The main requirements for robotic multi-copter battery maintenance systems depending on operating conditions, required processing speed, operator experience and other parameters are analyzed. The key issues remain questions of the autonomous landing of the unmanned aerial vehicles on the platform and approach to servicing battery. The existing prototypes of service robotic platforms are differed in the complexity of internal mechanisms, speed of service, algorithms of joint work of the platform and unmanned aerial vehicles during the landing and maintenance of the battery. The classification of robotic systems for servicing the power supply of multi-copter batteries criteria is presented using the following: the type of basing, the method of navigation during landing, the shape of the landing pad, the method of restoring the power supply module. The proposed algorithmic model of the operation of battery power maintenance system of the multi-copter on ground-based robotic platform during solving the target agrarian problem is described. Wireless methods of battery recovery are most promising, so further development and prototyping of a wireless charging station for multi-copter batteries will be developed.

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An Approach Toward Visual Autonomous Ship Board Landing of a VTOL UAV

Cited by 89 publications

References 15 publications

Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

Towards Autonomous Modular UAV Missions: The Detection, Geo-Location and Landing Paradigm

Classification of robotic battery service systems for unmanned aerial vehicles

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