A Vision-Based Autonomous Landing Guidance Strategy for a Micro-UAV by the Modified Camera View

被引:6
|
作者
Mu, Lingxia [1 ]
Li, Qingliang [1 ]
Wang, Ban [2 ]
Zhang, Youmin [3 ]
Feng, Nan [4 ]
Xue, Xianghong [1 ]
Sun, Wenzhe [1 ]
机构
[1] Xian Univ Technol, Shaanxi Key Lab Complex Syst Control & Intelligent, Xian 710048, Peoples R China
[2] Northwestern Polytech Univ, Sch Aeronaut, Xian 710072, Peoples R China
[3] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ H3G 1M8, Canada
[4] Univ Sci & Technol Beijing, Sch Intelligence Sci & Technol, Beijing 100083, Peoples R China
基金
中国博士后科学基金; 中国国家自然科学基金; 加拿大自然科学与工程研究理事会;
关键词
vision-based autonomous landing; angle-of-view conversion; YOLOv5; detection; landing marker coordinate estimation; micro unmanned aerial vehicle; UNMANNED AERIAL VEHICLE;
D O I
10.3390/drones7060400
中图分类号
TP7 [遥感技术];
学科分类号
081102 ; 0816 ; 081602 ; 083002 ; 1404 ;
摘要
Autonomous landing is one of the key technologies for unmanned aerial vehicles (UAVs) which can improve task flexibility in various fields. In this paper, a vision-based autonomous landing strategy is proposed for a quadrotor micro-UAV based on a novel camera view angle conversion method, fast landing marker detection, and an autonomous guidance approach. The front-view camera of the micro-UAV video is first modified by a new strategy to obtain a top-down view. By this means, the landing marker can be captured by the onboard camera of the micro-UAV and is then detected by the YOLOv5 algorithm in real time. The central coordinate of the landing marker is estimated and used to generate the guidance commands for the flight controller. After that, the guidance commands are sent by the ground station to perform the landing task of the UAV. Finally, the flight experiments using DJI Tello UAV are conducted outdoors and indoors, respectively. The original UAV platform is modified using the proposed camera view angle-changing strategy so that the top-down view can be achieved for performing the landing mission. The experimental results show that the proposed landing marker detection algorithm and landing guidance strategy can complete the autonomous landing task of the micro-UAV efficiently.
引用
收藏
页数:21
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