Vision Assisted Autonomous Landing of an Unmanned Aerial Vehicle.

In this paper, a strategy for an autonomous landing maneuver for an underactuated, unmanned aerial vehicle (UAV) using position information obtained from a single monocular on-board camera is presented. Although the UAV is underactuated in translational control inputs (i.e., a lift force can only be produced), the proposed controller is shown to achieve globally uniform ultimate boundedness (GUUB) in position regulation error during the landing approach. The proposed vision-based control algorithm is built upon homography-based techniques and Lyapunov design methods.

[1]  Warren E. Dixon,et al.  Adaptive homography-based visual servo tracking for a fixed camera configuration with a camera-in-hand extension , 2005, IEEE Transactions on Control Systems Technology.

[2]  Jian Chen,et al.  Vision Assisted Landing of an Unmanned Aerial Vehicle , 2005 .

[3]  Bin Xian,et al.  Tracking control of an underactuated unmanned underwater vehicle , 2005, Proceedings of the 2005, American Control Conference, 2005..

[4]  Joao P. Hespanha,et al.  Position tracking of underactuated vehicles , 2003, Proceedings of the 2003 American Control Conference, 2003..

[5]  Olivier Faugeras,et al.  Three-Dimensional Computer Vision , 1993 .

[6]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[7]  A. Hanson,et al.  Scaled Euclidean 3D reconstruction based on externally uncalibrated cameras , 1995, Proceedings of International Symposium on Computer Vision - ISCV.

[8]  Warren E. Dixon,et al.  Adaptive homography-based visual servo tracking , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[9]  Charles R. Johnson,et al.  Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.

[10]  Olivier Faugeras,et al.  Motion and Structure from Motion in a piecewise Planar Environment , 1988, Int. J. Pattern Recognit. Artif. Intell..

[11]  V. Moreau,et al.  Dynamic modeling and intuitive control strategy for an "X4-flyer" , 2005, 2005 International Conference on Control and Automation.

[12]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[13]  François Chaumette,et al.  2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement , 2000, International Journal of Computer Vision.

[14]  R. Lozano,et al.  DYNAMIC MODELLING AND CONFIGURATION STABILIZATION FOR AN X 4-FLYER , 2002 .

[15]  Yoshihiko Nakamura,et al.  Advanced robotics - redundancy and optimization , 1990 .

[16]  Tarek Hamel,et al.  Visual servo control using homography estimation for the stabilization of an X4-flyer , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[17]  S. Shankar Sastry,et al.  A vision system for landing an unmanned aerial vehicle , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[18]  Rogelio Lozano,et al.  DYNAMIC MODELLING AND CONFIGURATION STABILIZATION FOR AN X4-FLYER. , 2002 .