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Towards Autonomous Tracking and Landing on Moving Target
Xu LY(许凌云); Luo HB(罗海波)
Department光电信息技术研究室
Conference Name2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016)
Conference DateJune 6-10, 2016
Conference PlaceAngkor Wat, Cambodia
Author of SourceInst Elect & Elect Engineers, IEEE Robot & Automat Soc, Shanghai Jiao Tong Univ, Natl Univ Def Technol, Harbin Inst Technol, Chinese Acad Sci, Shenzhen Inst Adv Technol, Chinese Univ Hong Kong
Source Publication2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016)
PublisherIEEE
Publication PlaceNEW YORK
2016
Pages620-625
Indexed ByEI ; CPCI(ISTP)
EI Accession number20170403280206
WOS IDWOS:000391370200111
Contribution Rank1
ISBN978-1-4673-8959-4
AbstractThe battery capacity of Unmanned Aerial Vehicle (UAV) is the main limitation, but with the rapid growth of UAV deployment in both military and civilian application, there is an urgent need to development the reliable and automated landing procedure. This paper is aim to propose a basic framework for autonomous landing on moving target for the Vertical Take-off and Landing (VTOL) UAVs. The VTOL vehicle is assumed to equip with a Global Navigation Satellite System (GNSS) system and a stereo vision system which could generate the point cloud within 20 meters. We applied a particle filter based Visual Servo in the UAV vision system to detect and track the moving the target at real time. We also combine the inertial measurement unit (IMU) data with the stereo vision based visual odometry to make the relative accurate pose estimation. The relative position, orientation and velocity to the landing area on the moving carrier is obtained by a modified optical flow method. The control method used in this framework combined tracking and approaching base on the range distance. We has applied our proposed framework on both simulation and landing task on a moving vehicle, and the result shows the efficiency and extended ability of our framework.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19827
Collection光电信息技术研究室
Corresponding AuthorXu LY(许凌云)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, University of Chinese Academy of Sciences, Beijing, 100049, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Xu LY,Luo HB. Towards Autonomous Tracking and Landing on Moving Target[C]//Inst Elect & Elect Engineers, IEEE Robot & Automat Soc, Shanghai Jiao Tong Univ, Natl Univ Def Technol, Harbin Inst Technol, Chinese Acad Sci, Shenzhen Inst Adv Technol, Chinese Univ Hong Kong. NEW YORK:IEEE,2016:620-625.
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