An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad

Sensors

卷:19

Xuancen Liu¹  Jiayi Tian¹  Longbin Liu¹  Shifeng Zhang¹ 

[1] College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China;

关键词: onboard vision;    micro aerial vehicle (mav);    monocular camera;    autonomous landing;    low-cost sensors;   

DOI  :  10.3390/s19214703

来源: DOAJ

【 摘 要 】

In this paper, an onboard vision-based system for the autonomous landing of a low-cost quadrotor is presented. A novel landing pad with different optical markers sizes is carefully designed to be robustly recognized at different distances. To provide reliable pose information in a GPS (Global Positioning System)-denied environment, a vision algorithm for real-time landing pad recognition and pose estimation is implemented. The dynamic model of the quadrotor is established and a system scheme for autonomous landing control is presented. A series of autonomous flights have been successfully performed, and a video of the experiment is available online. The efficiency and accuracy of the presented vision-based system is demonstrated by using its position and attitude estimates as control inputs for the autonomous landing of a self-customized quadrotor.

【 授权许可】

Unknown