Lidar-guided Autonomous Landing of an Aerial Vehicle on a Ground Vehicle

被引：0
|
作者：
Kim, Jonghwi [1 ]
Woo, Sangwook [2 ]
Kim, Jinwhan [1 ,2 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Daejeon 34141, South Korea
[2] Korea Adv Inst Sci & Technol, Robot Program, Daejeon 34141, South Korea
来源：
2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2017年
关键词：
unmanned aerial vehicle; autonomous landing; reachability analysis;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper addresses the autonomous landing of an unmanned aerial vehicle (UAV) on a ground vehicle. Unlike most of the previous research on autonomous UAV landing that used onboard sensors mounted on the UAV, this study suggests using a lidar mounted on a ground vehicle for lidar-guided landing. To estimate the relative position of the UM' with respect to the landing platform, a clustering algorithm is applied. In addition, to enhance the safety of landing, a decision making procedure based on simple reachability analysis is introduced. The proposed landing method is implemented and then verified through an experiment.
引用
收藏
页码：228 / 231
页数：4
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