Vision Assisted Landing of an Unmanned Aerial Vehicle

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA465706

Entities

People

  • Darren M. Dawson
  • Jian Chen
  • Mathew Feemster
  • Vilas K. Chitrakaran

Organizations

  • Clemson University

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Actuators
  • Aircrafts
  • Airframes
  • Cognitive Systems Engineering
  • Control Systems
  • Detectors
  • Dynamics
  • Engineering
  • Equations
  • Inertial Navigation
  • Landing Pads
  • Navigation
  • Systems Engineering
  • Unmanned
  • Unmanned Aerial Vehicles
  • Unmanned Vehicles
  • Vehicles

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • Autonomy