TY - GEN
T1 - Autonomous Landing of a UAV on a Custom Ground Marker using Image-Based Visual Servoing
AU - Disa, Ashwin
AU - Nair, Vishnu G.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Landing is a crucial maneuver for a successful flight mission. This paper presents vision-based ground marker detection and autonomous landing of Unmanned Aerial Vehicles (UAVs). The methodology is based on a monocular vision system that detects the predefined ground marker and determines the altitude of the UAV solely from the vision sensor data. The same vision system is also used for positioning and estimating the orientation of the UAV with respect to the ground marker. A proportional controller is implemented for landing the UAV accurately. Image Based Visual Servoing (IBVS) control technique is implemented to reduce the computational cost of the system. The algorithm accounts for abnormal situations such as loss of ground marker in the image frame or a partially visible ground marker. The performance of the landing system is verified through both simulations and outdoor experimentation. The results show the accuracy and robustness of the proposed autonomous landing strategy.
AB - Landing is a crucial maneuver for a successful flight mission. This paper presents vision-based ground marker detection and autonomous landing of Unmanned Aerial Vehicles (UAVs). The methodology is based on a monocular vision system that detects the predefined ground marker and determines the altitude of the UAV solely from the vision sensor data. The same vision system is also used for positioning and estimating the orientation of the UAV with respect to the ground marker. A proportional controller is implemented for landing the UAV accurately. Image Based Visual Servoing (IBVS) control technique is implemented to reduce the computational cost of the system. The algorithm accounts for abnormal situations such as loss of ground marker in the image frame or a partially visible ground marker. The performance of the landing system is verified through both simulations and outdoor experimentation. The results show the accuracy and robustness of the proposed autonomous landing strategy.
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U2 - 10.1109/INDISCON58499.2023.10270190
DO - 10.1109/INDISCON58499.2023.10270190
M3 - Conference contribution
AN - SCOPUS:85174837891
T3 - 2023 IEEE 4th Annual Flagship India Council International Subsections Conference: Computational Intelligence and Learning Systems, INDISCON 2023
BT - 2023 IEEE 4th Annual Flagship India Council International Subsections Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE Annual Flagship India Council International Subsections Conference, INDISCON 2023
Y2 - 5 August 2023 through 7 August 2023
ER -