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Towards Autonomous Tracking and Landing on Moving Target
Xu LY(许凌云); Luo HB(罗海波)
作者部门光电信息技术研究室
会议名称2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016)
会议日期June 6-10, 2016
会议地点Angkor Wat, Cambodia
会议主办者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
会议录名称2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016)
出版者IEEE
出版地NEW YORK
2016
页码620-625
收录类别EI ; CPCI(ISTP)
EI收录号20170403280206
WOS记录号WOS:000391370200111
产权排序1
ISBN号978-1-4673-8959-4
摘要The 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19827
专题光电信息技术研究室
通讯作者Xu LY(许凌云)
作者单位1.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
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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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