Abstract
This project presents a vision based position control for Vertical Take-off and Landing (VTOL) to recognise a singular landmark for landing and take-off. Position control can provide safe flight and an accurate navigation. The circle landmark which used is an artificial landmark at known locations in an environment. Initially, a camera mounted on VTOL facing downward detecting landmarks in environments. A single circle used as landmark and VTOL will be control the position to reach the landmark. The images from the down-looking camera provided vision data to estimates position of VTOL from landmark. A mathematical method based on projective geometry using to locate VTOL on desired landmark from projected point in capture image. By compute the x-y coordinates of the VTOL with respect to landmark, height of camera above landmark will be obtained. VTOL can localize itself in known environment with pose estimation from landmark. The graphic user interface system (GUI) generate by MATLAB software is used to communicate with VTOL to control the VTOL position
Highlights
A vertical-takeoff-and-landing (VTOL) is defined as aircraft that can hover, take-off and land vertically without using runway, for example, helicopter
As many new technology developed on image processing, circular shape recognition and position estimation using computer vision or image processing is one of significant research subject in application fields such as mobile robots, intelligent Closed-circuit television (CCTV), and target recognition
From the obtained circle parameter, a position estimation mathematical equation is developed by studying the relationship between area size of circle and the actual height of Vertical Take-off and Landing (VTOL)
Summary
A vertical-takeoff-and-landing (VTOL) is defined as aircraft that can hover, take-off and land vertically without using runway, for example, helicopter. The solution of localization problem is developed vision-based navigation systems use wireless pinhole camare to recognize a desired landmark for positioning task in urban area or even indoor environments. A mathematical models is develop by from the relationship of area size of circle and the actual position between camera of VTOL and ground floor In this way, the resulting system is able to recognise artificial circular landmark, estimate position of VTOL on the landing area for search and rescue mission in disaster, for example, earthquake. By using wireless pinhole camera, VTOL able to identify the location of safety area, VTOL locate survivors in the safe landing area with desired artificial landmark This project will focus on implement of vision-based landmark recognition, tracking and position estimation algorithm for VTOL using wireless camera system
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