移動プラットフォームへのUAV屋外精密着陸
Precision Landing of a UAV on a Moving Platform for Outdoor Applications
単眼カメラとフィデューシャルマーカーによる視覚ベースの位置推定とPID制御を用いて、屋外環境で移動するプラットフォームへUAVを精密に着陸させる手法を実装した。
著者: Adarsh Salagame, Sushant Govindraj, S. N. Omkar
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
As UAV technology improves, more uses have been found for these versatile autonomous vehicles, from surveillance to aerial photography, to package delivery, and each of these applications poses unique challenges. This paper implements a solution for one such challenge: To land on a moving target. This problem has been addressed before with varying degrees of success, however, most implementations focus on indoor applications. Outdoor poses greater challenges in the form of variables such as wind and lighting, and outdoor drones are heavier and more susceptible to inertial effects. Our approach is purely vision based, using a monocular camera and fiducial markers to localize the drone and a PID control to follow and land on the platform.
