Autonomous ship board landing of a VTOL UAV

Jose Luis Sanchez-Lopez, Srikanth Saripalli, Pascual Campoy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

We present the design and implementation of a vision based autonomous landing algorithm using a downward looking camera. To demonstrate the efficacy of our algorithms we emulate the dynamics of the ship-deck, for various sea states and different ships using a 6DOF motion platform. We then present the design and implementation of our robust computer vision system to measure the pose of the shipdeck w.r.t to the vehicle. A Kalman filter is used in conjunction with our vision system to ensure the robustness of the estimates. We demonstrate the accuracy and robustness of our system to occlusions, variation in intensity, etc. using our testbed.

Original languageEnglish (US)
Title of host publication69th American Helicopter Society International Annual Forum 2013
Pages798-807
Number of pages10
StatePublished - 2013
Event69th American Helicopter Society International Annual Forum 2013 -
Duration: May 21 2013May 23 2013

Publication series

NameAnnual Forum Proceedings - AHS International
Volume1
ISSN (Print)1552-2938

Other

Other69th American Helicopter Society International Annual Forum 2013
Period5/21/135/23/13

ASJC Scopus subject areas

  • Engineering(all)

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