Autonomous Landing of a UAV on a Custom Ground Marker using Image-Based Visual Servoing

Ashwin Disa, Vishnu G. Nair

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2023 IEEE 4th Annual Flagship India Council International Subsections Conference
Subtitle of host publicationComputational Intelligence and Learning Systems, INDISCON 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350333558
DOIs
Publication statusPublished - 2023
Event4th IEEE Annual Flagship India Council International Subsections Conference, INDISCON 2023 - Mysore, India
Duration: 05-08-202307-08-2023

Publication series

Name2023 IEEE 4th Annual Flagship India Council International Subsections Conference: Computational Intelligence and Learning Systems, INDISCON 2023

Conference

Conference4th IEEE Annual Flagship India Council International Subsections Conference, INDISCON 2023
Country/TerritoryIndia
CityMysore
Period05-08-2307-08-23

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Computational Mathematics
  • Control and Optimization
  • Health Informatics

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