Abstract
This article describes the use of a monocular camera attached to a multirotor perpendicular to the horizon, to recognize visual cues or artefacts (AprilTag) and use it as an anchor for aerial alignment to finally land on it, thus attempting to make autonomous flights safer and usable in slightly hard-to-reach locations. A Hexacopter frame with the DJI N3 flight controller was used for prototyping and realizing the desired algorithm. Factors like wind speed and gusts were taken into account as well as the center of gravity of the multirotor and the position of the molecular camera attached to the copter facing downwards or at a 90-degree angle. The results of the experiments conducted were verified against existing methods like the GPS (Global Positioning System) waypoint mission provided by major commercial Unmanned Aerial Vehicle(UAV) or Flight Controller manufacturers and were also compared to experimental methods presented in related research articles, fairing excellent results
Highlights
Multirotor unmanned aerial vehicles have come a long way since its inception when auto stabilization was a dream
Today most off-the-shelf consumer multirotors are equipped with features like autonomous flight, GPS waypoint-mission, optical-flow stabilization and a lot more
The main objective of this research is to use a monocular camera in a UAV to detect visual cues, and use it as an anchor to align itself while landing at the spot, to avoid unnecessary hitches or movement due to wind or other susceptible causes like COG
Summary
Multirotor unmanned aerial vehicles have come a long way since its inception when auto stabilization was a dream. Today most off-the-shelf consumer multirotors are equipped with features like autonomous flight, GPS waypoint-mission, optical-flow stabilization and a lot more. UAVs have achieved great feats in the past decade by using this to navigate faraway territories without human intervention. These features enable multirotors to navigate through the skies with ease, and in recent years the industry of multirotors has grown due to the consumer interest in these devices. Manual control of these multirotors are as safe as the pilots but autonomous
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