Towards Autonomous Tracking and Landing on Moving Target

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 光电信息技术研究室

	Towards Autonomous Tracking and Landing on Moving Target
	Xu LY(许凌云); Luo HB(罗海波)
	2016
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
页码	620-625
通讯作者	许凌云
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
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	2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016)
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4673-8959-4
WOS记录号	WOS:000391370200111
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19827]
专题	沈阳自动化研究所_光电信息技术研究室
推荐引用方式 GB/T 7714	Xu LY,Luo HB. Towards Autonomous Tracking and Landing on Moving Target[C]. 见:2016 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2016). Angkor Wat, Cambodia. June 6-10, 2016.