Lidar-guided autonomous landing of an aerial vehicle on a ground vehicle

2017 ◽  
Author(s):  
Jonghwi Kim ◽  
Sangwook Woo ◽  
Jinwhan Kim
Keyword(s):  
Autonomous Landing ◽  
Ground Vehicle ◽  
Aerial Vehicle

scholarly journals Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual-inertial Approach

2021 ◽  
Author(s):  
Ching-Wei Chang ◽  
Li-Yu Lo ◽  
Hiu Ching Cheung ◽  
Yurong Feng ◽  
An-Shik Yang ◽  
...  
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
Guidance System ◽  
Autonomous Landing ◽  
Ground Vehicle ◽  
Ground Station ◽  
Aerial Vehicle ◽  
Promising Solution ◽  
Marine Vessels ◽  
Long Endurance

This work aims to develop an autonomous system for the unmanned aerial vehicle (UAV) to land on a moving platform such as the automobile or marine vessels, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Different from most state-of-the-art UAV landing frameworks which rely on UAV’s onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such novel configuration can therefore lighten the burden of the UAV and computation power on the ground vehicle/marine vessel could be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted and the result shows that a precise autonomous landing on a 43 X 43 cm platform could be performed.

Autonomous landing of a quadrotor on a moving platform using vision-based FOFPID control

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Ali Ghasemi ◽  
Farhad Parivash ◽  
Serajeddin Ebrahimian
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Control Law ◽  
Unmanned Ground Vehicle ◽  
Autonomous Landing ◽  
Actuator Dynamics ◽  
Ground Vehicle ◽  
Vision Positioning ◽  
Aerial Vehicle ◽  
Quadrotor System

Abstract This research deals with the autonomous landing maneuver of a quadrotor unmanned aerial vehicle (UAV) on an unmanned ground vehicle (UGV). It is assumed that the UGV moves independently, and there is no communication and collaboration between the two vehicles. This paper aims at the design of a closed-loop vision-based control system for quadrotor UAV to perform autonomous landing maneuvers in the possible minimum time despite the wind-induced disturbance force. In this way, a fractional-order fuzzy proportional-integral-derivative controller is introduced for the nonlinear under-actuated system of a quadrotor. Also, a feedback linearization term is included in the control law to compensate model nonlinearities. A supervisory control algorithm is proposed as an autonomous landing path generator to perform fast, smooth, and accurate landings. On the other hand, a compound AprilTag fiducial marker is employed as the target of a vision positioning system, enabling high precision relative positioning in the range between 10 and 350 cm height. A software-in-the-loop simulation testbed is realized on the windows platform. Numerical simulations with the proposed control system are carried out, while the quadrotor system is exposed to different disturbance conditions and actuator dynamics with saturated thrust output are considered.

scholarly journals Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Xiao Liang ◽  
Honglun Wang ◽  
Haitao Luo
Keyword(s):  
Visual Field ◽  
Heterogeneous System ◽  
Three Dimensional ◽  
Unmanned Ground Vehicle ◽  
Worst Case ◽  
Ground Vehicle ◽  
Pursuit Evasion ◽  
Evasion Game ◽  
Evasion Strategy ◽  
Aerial Vehicle

The UAV/UGV heterogeneous system combines the air superiority of UAV (unmanned aerial vehicle) and the ground superiority of UGV (unmanned ground vehicle). The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in complex three-dimensional (3D) polygonal environment, which is large enough but with boundary. Firstly, the system and task hypothesis are introduced. Then, an improved boundary value problem (BVP) is used to unify the terrain data of decision and path planning. Under the condition that the evader knows the position of collaborative pursuers at any time but pursuers just have a line-of-sight view, a worst case is analyzed and the strategy between the evader and pursuers is studied. According to the state of evader, the strategy of collaborative pursuers is discussed in three situations: evader is in the visual field of pursuers, evader just disappears from the visual field of pursuers, and the position of evader is completely unknown to pursuers. The simulation results show that the strategy does not guarantee that the pursuers will win the game in complex 3D polygonal environment, but it is optimal in the worst case.

scholarly journals Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach

Sensors ◽  
2022 ◽  
Vol 22 (1) ◽  
pp. 404
Author(s):  
Ching-Wei Chang ◽  
Li-Yu Lo ◽  
Hiu Ching Cheung ◽  
Yurong Feng ◽  
An-Shik Yang ◽  
...  
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
Guidance System ◽  
Autonomous Landing ◽  
Ground Vehicle ◽  
Ground Station ◽  
Moving Platforms ◽  
Promising Solution ◽  
Long Endurance ◽  
Indoor And Outdoor

This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed.

Vision-based pose estimation of a multi-rotor unmanned aerial vehicle

2019 ◽  
Vol 7 (3) ◽  
pp. 120-132
Author(s):  
Kashish Gupta ◽  
Bara Jamal Emran ◽  
Homayoun Najjaran
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Three Dimensional ◽  
Processing System ◽  
Training Procedure ◽  
Autonomous Landing ◽  
Content Type ◽  
Landing Platform ◽  
Aerial Vehicle ◽  
Autopilot Systems ◽  
Practical Implications

Purpose The purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach. Design/methodology/approach Autonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time. Findings The system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles. Practical implications The proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV. Originality/value The simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.

scholarly journals Editorial for the Special Issue “Estimation of Crop Phenotyping Traits using Unmanned Ground Vehicle and Unmanned Aerial Vehicle Imagery”

2020 ◽  
Vol 12 (6) ◽  
pp. 940 ◽  
Author(s):  
Xiuliang Jin ◽  
Zhenhai Li ◽  
Clement Atzberger
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Crop Production ◽  
Unmanned Ground Vehicle ◽  
Special Issue ◽  
Climate Conditions ◽  
Ground Vehicle ◽  
Global Food Security ◽  
3D Data ◽  
Potential Applications ◽  
Aerial Vehicle

High-throughput crop phenotyping is harnessing the potential of genomic resources for the genetic improvement of crop production under changing climate conditions. As global food security is not yet assured, crop phenotyping has received increased attention during the past decade. This spectral issue (SI) collects 30 papers reporting research on estimation of crop phenotyping traits using unmanned ground vehicle (UGV) and unmanned aerial vehicle (UAV) imagery. Such platforms were previously not widely available. The special issue includes papers presenting recent advances in the field, with 22 UAV-based papers and 12 UGV-based articles. The special issue covers 16 RGB sensor papers, 11 papers on multi-spectral imagery, and further 4 papers on hyperspectral and 3D data acquisition systems. A total of 13 plants’ phenotyping traits, including morphological, structural, and biochemical traits are covered. Twenty different data processing and machine learning methods are presented. In this way, the special issue provides a good overview regarding potential applications of the platforms and sensors, to timely provide crop phenotyping traits in a cost-efficient and objective manner. With the fast development of sensors technology and image processing algorithms, we expect that the estimation of crop phenotyping traits supporting crop breeding scientists will gain even more attention in the future.

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