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Vision-based autonomous tracking and landing of a fully-actuated rotorcraft
Affiliation:1. Dept. of Ocean Engineering, Zhejiang Univ., 866 Yuhangtang Rd., Hangzhou, Zhejiang Province 310058, PR China;2. Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, G15AE, UK;1. Department of Cardiovascular Aerospace Medicine, Institute of Aerospace Medicine, German Aerospace Center (DLR), Cologne, Germany;2. Clinic III for Internal Medicine, Heart Center University of Cologne, Cologne, Germany;3. Federal State Budgetary Research Institution, State Scientific Center of the Russian Federation, Institute of Biomedical Problems, Russian Academy of Sciences, Moscow, Russian Federation;4. Institute of Aerospace Medicine, German Aerospace Center (DLR) and Chair of Aerospace Medicine University of Cologne, Cologne, Germany;1. Department of Electrical and Computer Engineering, University of Western Ontario, London, Ontario, Canada;2. Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada
Abstract:Autonomous landing is a challenging phase of flight for an aerial vehicle, especially when attempting to land on a moving target. This paper presents vision-based tracking and landing of a fully-actuated tilt-augmented quadrotor on a moving target. A fully-actuated vehicle allows higher freedom in terms of control design and a larger flight envelope since the position and attitude states are decoupled. An adaptive control law is designed to track a moving target with only relative position information from a camera. Low-cost hardware is used, and experiments are carried out to validate the proposed methodology for targets moving at realistic speeds.
Keywords:Autonomous systems  Unmanned aerial vehicles  Vision  Autonomous landing  Aerospace control
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