TY - GEN
T1 - Toward visual autonomous ship board landing of a VTOL UAV
AU - Sanchez-Lopez, Jose Luis
AU - Saripalli, Srikanth
AU - Campoy, Pascual
AU - Pestana, Jesus
AU - Fu, Changhong
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
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U2 - 10.1109/ICUAS.2013.6564760
DO - 10.1109/ICUAS.2013.6564760
M3 - Conference contribution
AN - SCOPUS:84883109563
SN - 9781479908172
T3 - 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings
SP - 779
EP - 788
BT - 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings
T2 - 2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013
Y2 - 28 May 2013 through 28 May 2013
ER -