Vision assisted autonomous landing of an unmanned aerial vehicle.

被引：0

作者：

Chitrakaran, Vilas K. ^{[1
]}

Dawson, Darren M. ^{[1
]}

Chen, Jian ^{[1
]}

Feemster, Matthew ^{[1
]}

机构：

[1] Clemson Univ, Clemson, SC 29631 USA

来源：

2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8 | 2005年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a strategy for an autonomous landing maneuver for an underactuated, unmanned aerial vehicle (UAV) using position information obtained from a single monocular on-board camera is presented. Although the UAV is underactuated in translational control inputs (i.e., a lift force can only be produced), the proposed controller is shown to achieve globally uniform ultimate boundedness (GUUB) in position regulation error during the landing approach. The proposed vision-based control algorithm is built upon homography-based techniques and Lyapunov design methods.

引用

页码：1465 / 1470

页数：6

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