Toward visual autonomous ship board landing of a VTOL UAV

Jose Luis Sanchez-Lopez, Srikanth Saripalli, Pascual Campoy, Jesus Pestana, Changhong Fu

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

30 Scopus citations

Abstract

In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the movement of a ship landing platform on the Sea, for different Sea States, for different ships, randomly and realistically enough. We use a commercial parallel robot to get this movement. Once we had this, we developed an accurate and robust computer vision system to measure the pose of the helipad with respect to the on-board camera. To deal with the noise and the possible fails of the computer vision, a state estimator was created. With all of this, we are now able to develop and test a controller that closes the loop and finish the autonomous landing task.

Original languageEnglish (US)
Title of host publication2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings
Pages779-788
Number of pages10
DOIs
StatePublished - Sep 2 2013
Event2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Atlanta, GA, United States
Duration: May 28 2013May 28 2013

Publication series

Name2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings

Other

Other2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013
CountryUnited States
CityAtlanta, GA
Period5/28/135/28/13

ASJC Scopus subject areas

  • Aerospace Engineering

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  • Cite this

    Sanchez-Lopez, J. L., Saripalli, S., Campoy, P., Pestana, J., & Fu, C. (2013). Toward visual autonomous ship board landing of a VTOL UAV. In 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings (pp. 779-788). [6564760] (2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings). https://doi.org/10.1109/ICUAS.2013.6564760