In this paper, a strategy for an autonomous landing maneuver for an under-actuated, 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.


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    Titel :

    Vision Assisted Landing of an Unmanned Aerial Vehicle


    Beteiligte:
    V. K. Chitrakaran (Autor:in) / D. M. Dawson (Autor:in) / J. Chen (Autor:in) / M. Feemster (Autor:in)

    Erscheinungsdatum :

    2005


    Format / Umfang :

    9 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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