Vision-based target tracking and autonomous landing of a quadrotor on a ground vehicle.

Tru Hoang Enkhmurun Bayasgalan Ziyin Wang Gavriil Tsechpenakis Dimitra Panagou

ACC

@inproceedings{DBLP:conf/amcc/HoangBWTP17,
  author       = {Tru Hoang and
                  Enkhmurun Bayasgalan and
                  Ziyin Wang and
                  Gavriil Tsechpenakis and
                  Dimitra Panagou},
  title        = {Vision-based target tracking and autonomous landing of a quadrotor
                  on a ground vehicle},
  booktitle    = {2017 American Control Conference, {ACC} 2017, Seattle, WA, USA, May
                  24-26, 2017},
  pages        = {5580--5585},
  publisher    = {{IEEE}},
  year         = {2017},
  url          = {https://doi.org/10.23919/ACC.2017.7963823},
  doi          = {10.23919/ACC.2017.7963823},
  timestamp    = {Fri, 03 Dec 2021 13:04:31 +0100},
  biburl       = {https://dblp.org/rec/conf/amcc/HoangBWTP17.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

Abstract

This paper addresses vision-based tracking and landing of a micro-aerial vehicle (MAV) on a ground vehicle (GV). The camera onboard the MAV is mounted so that the optical axis is aligned with the downward-facing axis of the body-fixed frame. A novel supervised learning vision algorithm is proposed as the method to detect the ground vehicle in the image frame. A feedback linearization technique is developed for the MAV to fly over and track the GV so that visibility with the tracked target is maintained with certain guarantees. The efficacy of the visual detection algorithm, and of the tracking and landing controller is demonstrated in simulations and experiments with static and mobile GV.

Authors

Dimitra Panagou

link /

Bib

@inproceedings{DBLP:conf/amcc/HoangBWTP17,
  author       = {Tru Hoang and
                  Enkhmurun Bayasgalan and
                  Ziyin Wang and
                  Gavriil Tsechpenakis and
                  Dimitra Panagou},
  title        = {Vision-based target tracking and autonomous landing of a quadrotor
                  on a ground vehicle},
  booktitle    = {2017 American Control Conference, {ACC} 2017, Seattle, WA, USA, May
                  24-26, 2017},
  pages        = {5580--5585},
  publisher    = {{IEEE}},
  year         = {2017},
  url          = {https://doi.org/10.23919/ACC.2017.7963823},
  doi          = {10.23919/ACC.2017.7963823},
  timestamp    = {Fri, 03 Dec 2021 13:04:31 +0100},
  biburl       = {https://dblp.org/rec/conf/amcc/HoangBWTP17.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}