This paper presents the visual servoing methodology that lands a micro aerial vehicle on a ground platform in the indoor environments. Since the space in the indoor environment is usually limited, both of the size of micro aerial vehicle and landing platform has to be small. Thus, the visual servoing based on two pin-hole cameras mounted on the front and belly of micro aerial vehicle is suitable for such scenario. The visual feature extraction of the landing platform is proposed to detect the specific image pattern on it. The flying control strategies with the camera switching are developed to search and approach the landing platform. The aligning control during the landing procedure is designed by the fuzzy logic control with the target position error on image. The overall performance of the landing algorithm has been validated in the online experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Visual servoing of micro aerial vehicle landing on ground platform


    Contributors:


    Publication date :

    2014-10-01


    Size :

    1422502 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Micro Unmanned Aerial Vehicle Visual Servoing for Cooperative Indoor Exploration

    Rudol, Piotr / Wzorek, Mariusz / Conte, Gianpaolo et al. | IEEE | 2008


    Unmanned aerial vehicle landing platform and unmanned aerial vehicle landing system

    ZHANG DULI / GONG YUSHUAI | European Patent Office | 2023

    Free access

    UNMANNED AERIAL VEHICLE LANDING PLATFORM AND UNMANNED AERIAL VEHICLE LANDING SYSTEM

    ZHANG DULI / GONG YUSHUAI | European Patent Office | 2023

    Free access

    Unmanned aerial vehicle landing platform

    CHEN YANZHOU / SHEN XIAOJIE / CHENG TIANYU et al. | European Patent Office | 2024

    Free access

    Unmanned aerial vehicle landing platform

    ZHANG MINGHUANG / DU JINQIAO / XU JIANG et al. | European Patent Office | 2025

    Free access