Keywords

visual servoing, precision landing, multirotor, autonomous, control, image-based visual servoing, robotic vision, infrared

Abstract

The problem of performing a precision landing of an autonomous multirotor UAV in various lighting conditions is studied. A vision-based approach is proposed and consists of varying degree-of-freedom image-based visual servoing (VDOF-IBVS), and a specialized landing marker. The proposed approach is validated through extensive flight testing outdoors in both lighted and dark conditions, and is done using a standard off-the-shelf autopilot system.

Document Type

Conference Paper

Publication Date

2018-08-29

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Graduate Student

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