Abstract
This paper presents a method that enables a quadcopter to perform autonomous landing on a moving platform using computer vision. In addition, the system implementation of the computer vision technique is presented. Unlike other researches, the camera is mounted on the moving platform instead of being installed on the quadcopter. Besides, the computer vision system is tested outdoor, and the results such as the performance and the accuracy are presented. In the stationary platform test, 5 out of 10 landings fall within 30 cm from the center. In the moving platform test, the maximum platform-moving speed for autonomous landing is 2 m/s. Hence, it is proven that this methodology is feasible. Lastly, the advantages and limitations of the computer vision technique proposed are discussed.
Highlights
Unmanned aerial vehicles (UAVs) are flying machines that do not require human operators on board during the missions [1, 2]
The quadcopter can use the motion of the moving platform as the target, and the controller corrects the motion of the quadcopter whenever the errors in the position and velocity are detected
The camera is mounted on the moving platform instead of being installed on the quadcopter
Summary
Unmanned aerial vehicles (UAVs) are flying machines that do not require human operators on board during the missions [1, 2]. UAVs can either be piloted remotely or fly autonomously depending on the mission’s objectives and requirements. The development of UAVs occurred rapidly during World War 1 and World War 2. This was due to the ability of UAVs to allow real-time intelligence, surveillance and reconnaissance information from the battlefield without risking lives of pilots [3]. Apart from that, a UAV is much lighter and it helps in reducing the use of fuel for the mission, which increases both range and flight endurance of the craft. It is easy to understand the importance of the role of UAVs in military and the reason for UAVs getting more attention worldwide
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