Abstract
Near-ground manoeuvres, such as landing, are key elements in unmanned aerial vehicle navigation. Traditionally, these manoeuvres have been done using external reference frames to measure or estimate the velocity and the height of the vehicle. Complex near-ground manoeuvres are performed by flying animals with ease. These animals perform these complex manoeuvres by exclusively using the information from their vision and vestibular system. In this paper, we use the Tau theory, a visual strategy that, is believed, is used by many animals to approach objects, as a solution for relative ground distance control for unmanned vehicles. In this paper, it is shown how this approach can be used to perform near-ground manoeuvres in a vertical and horizontal manner on a moving target without the knowledge of height and velocity of either the vehicle or the target. The proposed system is tested with simulations. Here, it is shown that, using the proposed methods, the vehicle is able to perform landing on a moving target, and also they enable the user to choose the dynamic characteristics of the approach.
Highlights
Unmanned Aerial Vehicle (UAV) usage and applications, specially those performed by Micro
The key contribution of this paper is a novel bio-inspired vertical and horizontal control system on-board the UAV to achieve near-ground manoeuvres on a moving target
This paper shows a bio-inspired controller using Tau theory to achieve flexible visual autonomous vertical and horizontal control of a multi-rotor vehicle
Summary
Unmanned Aerial Vehicle (UAV) usage and applications, specially those performed by Micro. More than ever they are being used in tasks such as inspection, surveillance, reconnaissance, and search and rescue [1] This increased use demands for better navigation strategies to tackle more challenging approaches. Navigation in unmanned vehicles is commonly performed using an external reference frames, such as global positioning systems and other sensors. This reliance on external reference frames severely hinders their autonomy. As the base of a bio-inspired controller, has been used in [3] to generate trajectories during UAV perching using information from external reference sensors, such as Global Positioning. The key contribution of this paper is a novel bio-inspired vertical and horizontal control system on-board the UAV to achieve near-ground manoeuvres on a moving target.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
